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1 | initial version |
In your model for the kinect you need to create a fixed joint between the link that represents you model and the frame_id being published by the kinect node.
for example: <link name="kinect_link"> <visual> <geometry> <box size="0.064 0.121 0.0381"/> </geometry> <material name="Blue"/> </visual> <inertial> <mass value="0.0001"/> <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> <link name="kinect_link"> <visual> <geometry> <box size="0.064 0.121 0.0381"/> </geometry> <material name="Blue"/> </visual> <inertial> <mass value="0.0001"/> <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="kinect_depth_joint" type="fixed">
<origin xyz="0 0.028 0" rpy="0 0 0" />
<parent link="kinect_link" />
<child link="kinect_depth_frame" />
</joint>
<link name="kinect_depth_frame">
<inertial>
<mass value="0.0001" />
<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="depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="kinect_depth_frame" />
<child link="kinect_depth_optical_frame" />
</joint>
<link name="kinect_depth_optical_frame">
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
Then based on the above urdf launch the kinect node with the following parameteres:
<node pkg="openni_camera" type="openni_node" name="openni_camera" output="screen" respawn="true" >
<param name="device_type" value="1" />
<param name="registration_type" value="1" />
<param name="point_cloud_resolution" value="1" />
<param name="openni_depth_optical_frame" value="kinect_depth_optical_frame" />
<param name="openni_rgb_optical_frame" value="kinect_rgb_optical_frame" />
<param name="image_input_format" value="5" />
<rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
</node>
2 | No.2 Revision |
In your model for the kinect you need to create a fixed joint between the link that represents you model and the frame_id being published by the kinect node.
for example:
example:
<link name="kinect_link">
<visual>
<geometry>
<box size="0.064 0.121 0.0381"/>
</geometry>
<material name="Blue"/>
</visual>
<inertial>
<mass value="0.0001"/>
<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>
<link name="kinect_link">
<visual>
<geometry>
<box size="0.064 0.121 0.0381"/>
</geometry>
<material name="Blue"/>
</visual>
<inertial>
<mass value="0.0001"/>
<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="kinect_depth_joint" type="fixed">
<origin xyz="0 0.028 0" rpy="0 0 0" />
<parent link="kinect_link" />
<child link="kinect_depth_frame" />
</joint>
<link name="kinect_depth_frame">
<inertial>
<mass value="0.0001" />
<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="depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="kinect_depth_frame" />
<child link="kinect_depth_optical_frame" />
</joint>
<link name="kinect_depth_optical_frame">
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
Then based on the above urdf launch the kinect node with the following parameteres:
<node pkg="openni_camera" type="openni_node" name="openni_camera" output="screen" respawn="true" >
<param name="device_type" value="1" />
<param name="registration_type" value="1" />
<param name="point_cloud_resolution" value="1" />
<param name="openni_depth_optical_frame" value="kinect_depth_optical_frame" />
<param name="openni_rgb_optical_frame" value="kinect_rgb_optical_frame" />
<param name="image_input_format" value="5" />
<rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
</node>
3 | No.3 Revision |
In your model for the kinect you need to create a fixed joint between the link that represents you model and the frame_id being published by the kinect node.
for example:
<link name="kinect_link">
Then based on the above urdf launch the kinect node with the following parameteres:
<node pkg="openni_camera" type="openni_node" name="openni_camera" output="screen" respawn="true" >
<param name="device_type" value="1" />
<param name="registration_type" value="1" />
<param name="point_cloud_resolution" value="1" />
<param name="openni_depth_optical_frame" value="kinect_depth_optical_frame" />
<param name="openni_rgb_optical_frame" value="kinect_rgb_optical_frame" />
<param name="image_input_format" value="5" />
<rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
</node>
4 | spelling error |
In your model for the kinect you need to create a fixed joint between the link that represents you your model and the frame_id being published by the kinect node.
for example:
<link name="kinect_link">
<visual>
<geometry>
<box size="0.064 0.121 0.0381" />
</geometry>
<material name="Blue" />
</visual>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
<link name="kinect_link">
<visual>
<geometry>
<box size="0.064 0.121 0.0381" />
</geometry>
<material name="Blue" />
</visual>
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
<joint name="kinect_depth_joint" type="fixed">
<origin xyz="0 0.028 0" rpy="0 0 0" />
<parent link="kinect_link" />
<child link="kinect_depth_frame" />
</joint>
<link name="kinect_depth_frame">
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
<joint name="depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="kinect_depth_frame" />
<child link="kinect_depth_optical_frame" />
</joint>
<link name="kinect_depth_optical_frame">
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
Then based on the above urdf launch the kinect node with the following parameteres:
<node pkg="openni_camera" type="openni_node" name="openni_camera" output="screen" respawn="true" >
<param name="device_type" value="1" />
<param name="registration_type" value="1" />
<param name="point_cloud_resolution" value="1" />
<param name="openni_depth_optical_frame" value="kinect_depth_optical_frame" />
<param name="openni_rgb_optical_frame" value="kinect_rgb_optical_frame" />
<param name="image_input_format" value="5" />
<rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
</node>
5 | No.5 Revision |
In your model for the kinect you need to create a fixed joint between the link that represents your model and the frame_id being published by the kinect node.
for example:
<link name="kinect_link">
<visual>
<geometry>
<box size="0.064 0.121 0.0381" />
</geometry>
<material name="Blue" />
</visual>
<inertial>
<mass value="0.0001" />
<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>
<link name="kinect_link">
<visual>
<geometry>
<box size="0.064 0.121 0.0381" />
</geometry>
<material name="Blue" />
</visual>
<inertial>
<mass value="0.0001" />
<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="kinect_depth_joint" type="fixed">
<origin xyz="0 0.028 0" rpy="0 0 0" />
<parent link="kinect_link" />
<child link="kinect_depth_frame" />
</joint>
<link name="kinect_depth_frame">
<inertial>
<mass value="0.0001" />
<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="depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="kinect_depth_frame" />
<child link="kinect_depth_optical_frame" />
</joint>
<link name="kinect_depth_optical_frame">
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
Then based on the above urdf launch the kinect node with the following parameteres:
<node pkg="openni_camera" type="openni_node" name="openni_camera" output="screen" respawn="true" >
<param name="device_type" value="1" />
<param name="registration_type" value="1" />
<param name="point_cloud_resolution" value="1" />
<param name="openni_depth_optical_frame" value="kinect_depth_optical_frame" />
<param name="openni_rgb_optical_frame" value="kinect_rgb_optical_frame" />
<param name="image_input_format" value="5" />
<rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
</node>