Hello,

I'm creating URDF/Xacro models for a pair of robots, one using the original Kinect and one using an Asus Xtion Pro Live. I'm having difficulty finding consistent frame offsets for these two cameras. What I need are the lateral offsets from the center of each camera (usually called cameralink) and the two frames camerargbframe and cameradepth_frame.

The turtlebot_description package appears to use 0.0125 meters for both offsets and this matches the physical displacements of the lenses on the Kinect but not the Xtion. On the Xtion, the physical offsets appear to be more like 0.023 meters.

In summary, I need the values for y1 and y2 for both cameras in the URDF blocks below:

  <joint name="camera_depth_joint" type="fixed">
    <origin xyz="0 y1 0" rpy="0 0 0" />
    <parent link="camera_link"/>
    <child link="camera_depth_frame"/>
  </joint>

  <joint name="camera_rgb_joint" type="fixed">
    <origin xyz="0 y2 0" rpy="0 0 0" />
    <parent link="camera_link"/>
    <child link="camera_rgb_frame"/>
  </joint>

Thanks!
patrick