Updated the urdf launch files (luxonis#52)

depthai_bridge/launch/urdf.launch

@@ -5,7 +5,7 @@
     <arg name="camera_name"          default="oak" />
 
     <arg name="base_frame"           default="oak-d_frame" />
-    <arg name="parent_frame"         default="base_link" />
+    <arg name="parent_frame"         default="oak-d-base-frame" />
 
     <arg name="cam_pos_x"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
     <arg name="cam_pos_y"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->

depthai_bridge/launch/urdf_launch.py

@@ -11,82 +11,162 @@ def generate_launch_description():
     # urdf = open(urdf_path).read()
     # doc = xacro.process_file(urdf_path, mappings={'simulate_obstacles' : 'false'})
     print(xacro_path)
-    camera_name = LaunchConfiguration('camera_name')
-    camera_model = LaunchConfiguration('camera_model')
-    base_frame = LaunchConfiguration('base_frame')
-    cam_pos_x = LaunchConfiguration('cam_pos_x')
-    cam_pos_y = LaunchConfiguration('cam_pos_y')
-    cam_pos_z = LaunchConfiguration('cam_pos_z')
-    cam_roll = LaunchConfiguration('cam_roll')
-    cam_pitch = LaunchConfiguration('cam_pitch')
-    cam_yaw = LaunchConfiguration('cam_yaw')
+    camera_model = LaunchConfiguration('camera_model',  default = 'OAK-D')
+    camera_name  = LaunchConfiguration('camera_name',   default = 'oak')
+    base_frame   = LaunchConfiguration('base_frame',    default = 'oak-d_frame')
+    parent_frame = LaunchConfiguration('parent_frame',  default = 'oak-d-base-frame')
+    cam_pos_x    = LaunchConfiguration('cam_pos_x',     default = '0.0')
+    cam_pos_y    = LaunchConfiguration('cam_pos_y',     default = '0.0')
+    cam_pos_z    = LaunchConfiguration('cam_pos_z',     default = '0.0')
+    cam_roll     = LaunchConfiguration('cam_roll',      default = '0.0')
+    cam_pitch    = LaunchConfiguration('cam_pitch',     default = '0.0')
+    cam_yaw      = LaunchConfiguration('cam_yaw',       default = '0.0')
+
+    declare_camera_model_cmd = DeclareLaunchArgument(
+        'camera_model',
+        default_value=camera_model,
+        description='The model of the camera. Using a wrong camera model can disable camera features. Valid models: `OAK-D, OAK-D-LITE`.')
 
     declare_camera_name_cmd = DeclareLaunchArgument(
         'camera_name',
-        default_value='oak-d',
+        default_value=camera_name,
         description='The name of the camera. It can be different from the camera model and it will be used as node `namespace`.')
 
-    declare_camera_model_cmd = DeclareLaunchArgument(
-        'camera_model',
-        default_value='OAK-D',
-        description='The model of the camera. Using a wrong camera model can disable camera features. Valid models: `BW1098OAK`.')
+    declare_base_frame_cmd = DeclareLaunchArgument(
+        'base_frame',
+        default_value=base_frame,
+        description='Name of the base link.')
+
+    declare_parent_frame_cmd = DeclareLaunchArgument(
+        'parent_frame',
+        default_value=parent_frame,
+        description='Name of the parent link from other a robot TF for example that can be connected to the base of the OAK.')
+
+    declare_pos_x_cmd = DeclareLaunchArgument(
+        'cam_pos_x',
+        default_value=cam_pos_x,
+        description='Position X of the camera with respect to the base frame.')
+
+    declare_pos_y_cmd = DeclareLaunchArgument(
+        'cam_pos_y',
+        default_value=cam_pos_y,
+        description='Position Y of the camera with respect to the base frame.')
+
+    declare_pos_z_cmd = DeclareLaunchArgument(
+        'cam_pos_z',
+        default_value=cam_pos_z,
+        description='Position Z of the camera with respect to the base frame.')
+
+    declare_roll_cmd = DeclareLaunchArgument(
+        'cam_roll',
+        default_value=cam_roll,
+        description='Roll orientation of the camera with respect to the base frame.')
+
+    declare_pitch_cmd = DeclareLaunchArgument(
+        'cam_pitch',
+        default_value=cam_pitch,
+        description='Pitch orientation of the camera with respect to the base frame.')
+
+    declare_yaw_cmd = DeclareLaunchArgument(
+        'cam_yaw',
+        default_value=cam_yaw,
+        description='Yaw orientation of the camera with respect to the base frame.')
+
+    rsp_node =  Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='oak_state_publisher',
+            parameters=[{'robot_description': Command(
+                [
+                    'xacro', ' ', xacro_path, ' ',
+                    'camera_name:=', camera_name, ' ',
+                    'camera_model:=', camera_model, ' ',
+                    'base_frame:=', base_frame, ' ',
+                    'parent_frame:=', parent_frame, ' ',
+                    'cam_pos_x:=', cam_pos_x, ' ',
+                    'cam_pos_y:=', cam_pos_y, ' ',
+                    'cam_pos_z:=', cam_pos_z, ' ',
+                    'cam_roll:=', cam_roll, ' ',
+                    'cam_pitch:=', cam_pitch, ' ',
+                    'cam_yaw:=', cam_yaw
+                ])}]
+        )
+
+    ld = LaunchDescription()
 
-    # declare_config_common_path_cmd = DeclareLaunchArgument(
-    #     'config_common_path',
-    #     default_value=default_config_common,
-    #     description='Path to the `common.yaml` file.')
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration, Command
+from ament_index_python.packages import get_package_share_directory
+import os
 
-    # declare_config_camera_path_cmd = DeclareLaunchArgument(
-    #     'config_camera_path',
-    #     description='Path to the `<camera_model>.yaml` file.')
+def generate_launch_description():
+    bringup_dir = get_package_share_directory('depthai_bridge')
+    xacro_path = os.path.join(bringup_dir, 'urdf', 'depthai_descr.urdf.xacro')
+    # urdf = open(urdf_path).read()
+    # doc = xacro.process_file(urdf_path, mappings={'simulate_obstacles' : 'false'})
+    print(xacro_path)
+    camera_model = LaunchConfiguration('camera_model',  default = 'OAK-D')
+    camera_name  = LaunchConfiguration('camera_name',   default = 'oak')
+    base_frame   = LaunchConfiguration('base_frame',    default = 'oak-d_frame')
+    parent_frame = LaunchConfiguration('parent_frame',  default = 'oak-d-base-frame')
+    cam_pos_x    = LaunchConfiguration('cam_pos_x',     default = '0.0')
+    cam_pos_y    = LaunchConfiguration('cam_pos_y',     default = '0.0')
+    cam_pos_z    = LaunchConfiguration('cam_pos_z',     default = '0.0')
+    cam_roll     = LaunchConfiguration('cam_roll',      default = '1.5708')
+    cam_pitch    = LaunchConfiguration('cam_pitch',     default = '0.0')
+    cam_yaw      = LaunchConfiguration('cam_yaw',       default = '1.5708')
 
-    # declare_publish_urdf_cmd = DeclareLaunchArgument(
-    #     'publish_urdf',
-    #     default_value='true',
-    #     description='Enable URDF processing and starts Robot State Published to propagate static TF.')
 
-    # declare_xacro_path_cmd = DeclareLaunchArgument(
-    #     'xacro_path',
-    #     description='Path to the camera URDF file as a xacro file.')
+    declare_camera_model_cmd = DeclareLaunchArgument(
+        'camera_model',
+        default_value=camera_model,
+        description='The model of the camera. Using a wrong camera model can disable camera features. Valid models: `OAK-D, OAK-D-LITE`.')
 
-    # declare_svo_path_cmd = DeclareLaunchArgument(
-    #     'svo_path',
-    #     default_value='',
-    #     description='Path to an input SVO file. Note: overrides the parameter `general.svo_file` in `common.yaml`.')
+    declare_camera_name_cmd = DeclareLaunchArgument(
+        'camera_name',
+        default_value=camera_name,
+        description='The name of the camera. It can be different from the camera model and it will be used as node `namespace`.')
 
     declare_base_frame_cmd = DeclareLaunchArgument(
         'base_frame',
-        default_value='oak-d_frame',
+        default_value=base_frame,
         description='Name of the base link.')
 
+    declare_parent_frame_cmd = DeclareLaunchArgument(
+        'parent_frame',
+        default_value=parent_frame,
+        description='Name of the parent link from other a robot TF for example that can be connected to the base of the OAK.')
+
     declare_pos_x_cmd = DeclareLaunchArgument(
         'cam_pos_x',
-        default_value='0.0',
+        default_value=cam_pos_x,
         description='Position X of the camera with respect to the base frame.')
 
     declare_pos_y_cmd = DeclareLaunchArgument(
         'cam_pos_y',
-        default_value='0.0',
+        default_value=cam_pos_y,
         description='Position Y of the camera with respect to the base frame.')
 
     declare_pos_z_cmd = DeclareLaunchArgument(
         'cam_pos_z',
-        default_value='0.0',
+        default_value=cam_pos_z,
         description='Position Z of the camera with respect to the base frame.')
 
     declare_roll_cmd = DeclareLaunchArgument(
         'cam_roll',
-        default_value='1.5708',
+        default_value=cam_roll,
         description='Roll orientation of the camera with respect to the base frame.')
 
     declare_pitch_cmd = DeclareLaunchArgument(
         'cam_pitch',
-        default_value='0.0',
+        default_value=cam_pitch,
         description='Pitch orientation of the camera with respect to the base frame.')
 
     declare_yaw_cmd = DeclareLaunchArgument(
         'cam_yaw',
-        default_value='1.5708',
+        default_value=cam_yaw,
         description='Yaw orientation of the camera with respect to the base frame.')
 
     rsp_node =  Node(
@@ -99,6 +179,7 @@ def generate_launch_description():
                     'camera_name:=', camera_name, ' ',
                     'camera_model:=', camera_model, ' ',
                     'base_frame:=', base_frame, ' ',
+                    'parent_frame:=', parent_frame, ' ',
                     'cam_pos_x:=', cam_pos_x, ' ',
                     'cam_pos_y:=', cam_pos_y, ' ',
                     'cam_pos_z:=', cam_pos_z, ' ',
@@ -112,6 +193,7 @@ def generate_launch_description():
     ld.add_action(declare_camera_name_cmd)
     ld.add_action(declare_camera_model_cmd)
     ld.add_action(declare_base_frame_cmd)
+    ld.add_action(declare_parent_frame_cmd)
     ld.add_action(declare_pos_x_cmd)
     ld.add_action(declare_pos_y_cmd)
     ld.add_action(declare_pos_z_cmd)

depthai_bridge/urdf/depthai_descr.urdf.xacro

@@ -2,9 +2,9 @@
 <robot name="depthai_camera" xmlns:xacro="http://ros.org/wiki/xacro">
 
     <xacro:arg name="camera_name"   default="oak" />
-    <xacro:arg name="camera_model"  default="BW1098OAK" />
-    <xacro:arg name="base_frame"    default="base_link" />
-    <xacro:arg name="parent_frame"  default="base_link" />
+    <xacro:arg name="camera_model"  default="OAK-D" />
+    <xacro:arg name="base_frame"    default="oak-d_frame" />
+    <xacro:arg name="parent_frame"  default="oak-d-base-frame" />
     <xacro:arg name="cam_pos_x"     default="0.0" />
     <xacro:arg name="cam_pos_y"     default="0.0" />
     <xacro:arg name="cam_pos_z"     default="0.0" />

depthai_bridge/urdf/include/depthai_macro.urdf.xacro

@@ -7,7 +7,7 @@
 
     <!-- <xacro:if value="${model == 'BW1098OAK'}">
     </xacro:if> -->
-    <xacro:property name="baseline" value="0.095" />
+    <xacro:property name="baseline" value="0.075" />
 
     <!-- base_link of the sensor-->
     <link name="${base_frame}"/>