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How should I define the camera frames in my robot's URDF?

asked 2013-11-29 04:34:12 -0500

sofiad
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Hi, I have a URDF model for my robot and two cameras mounted on the robot's head (a Bumblebee and an Asus Xtion). My question is, how do I define the camera link frames and the frames for each of the cameras? Do I estimate the location of each, e.g. in solidworks?

Any help would be really appreciated!

Thanks

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answered 2015-04-09 03:42:58 -0500

romay
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Yes, you have to estimate the location and orientation of your camera with respect to the parent link that the camera is attached to.

In this tutorial, you can see a robot example and how the cameras are defined and also how the "origin" of each camera is implemented in this XACRO file.

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Asked: 2013-11-29 04:34:12 -0500

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Last updated: Apr 09 '15

How should I define the camera frames in my robot's URDF? edit

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How should I define the camera frames in my robot's URDF?