Return back kinect tf publishing to the xacro file. We also correct the

discrepancies between the xacro file and the real thing as explained here: https://groups.google.com/forum/?fromgroups#!topic/ros-sig-turtlebot/qASjCIBTsK8
yujinrobot · Jul 2, 2012 · bb2a91c · bb2a91c
1 parent 1192eae
commit bb2a91c
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diff --git a/kobuki_bringup/resources/launch/components/kinect.launch b/kobuki_bringup/resources/launch/components/kinect.launch
@@ -4,7 +4,7 @@
   <!-- Load standard constellation of processing nodelets -->
   <include file="$(find openni_launch)/launch/openni.launch" ns="/">
     <arg name="camera" value="camera"/>
-    <arg name="publish_tf" default="true"/>
+    <arg name="publish_tf" default="false"/>
   </include>
 
   <!-- throttling -->

diff --git a/kobuki_description/urdf/kinect.urdf.xacro b/kobuki_description/urdf/kinect.urdf.xacro
@@ -38,6 +38,70 @@
 
   </link>
 
+  <joint name="camera_depth_joint" type="fixed">
+    <origin xyz="0 0.0125 0" rpy="0 0 0" />
+    <parent link="camera_link" />
+    <child link="camera_depth_frame" />
+  </joint>
+
+  <link name="camera_depth_frame">
+    <inertial>
+      <mass value="0.01" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+        iyy="0.001" iyz="0.0"
+        izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="camera_depth_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+    <parent link="camera_depth_frame" />
+    <child link="camera_depth_optical_frame" />
+  </joint>
+
+  <link name="camera_depth_optical_frame">
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
+        iyy="0.0001" iyz="0.0"
+        izz="0.0001" />
+    </inertial>
+  </link>
+
+  <joint name="camera_rgb_joint" type="fixed">
+    <origin xyz="0 -0.0125 0" rpy="0 0 0" />
+    <parent link="camera_link" />
+    <child link="camera_rgb_frame" />
+  </joint>
+
+  <link name="camera_rgb_frame">
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
+        iyy="0.0001" iyz="0.0"
+        izz="0.0001" />
+    </inertial>
+  </link>
+
+  <joint name="camera_rgb_optical_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+    <parent link="camera_rgb_frame" />
+    <child link="camera_rgb_optical_frame" />
+  </joint>
+
+  <link name="camera_rgb_optical_frame">
+    <inertial>
+      <mass value="0.001" />
+      <origin xyz="0 0 0" />
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
+        iyy="0.0001" iyz="0.0"
+        izz="0.0001" />
+    </inertial>
+  </link>
+
   <!-- Kinect sensor for simulation -->
   <turtlebot_sim_kinect/>
 </xacro:macro>