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Hi again,

I guess, I've solved the problem by comparing

kinect_prosilica_camera.urdf.xacro

and

kinect_camera.urdf.xacro

files. It turns out mesh information wasn't scaled to the meter-scale when the kinect.dae file is generated, but mm-scale instead. It seems this can be done after this file is generated by adding scale="0.001 0.001 0.001" at the end of the corresponding line in the urdf files, as shown below,

<mesh filename="package://pr2_description/meshes/sensors/kinect_v0/kinect.dae" scale="0.001 0.001 0.001"/>

Probably, this has been overlooked by the developers in the recent updates.

Cheers

Hi again,

I guess, I've solved the problem by comparing kinect_prosilica_camera.urdf.xacro and kinect_camera.urdf.xacro files.

<mesh filename="package://pr2_description/meshes/sensors/kinect_v0/kinect.dae" scale="0.001 0.001 0.001"/>