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updating the URDF after changing the physical device on the robot

asked 2021-10-10 20:16:51 -0600

prem_ gravatar image

Hello !

I'm working on my robot arm for grasping task using a RGBD camera to detect an object and feedback the position of an object to grasp.

Recently, I changed the camera on the robot, so I have to also update the URDF for the MoveIt, but I'm not sure that updating only the URDF is the right answer.

So my question is I would like to know the process of updating, after I changed the physical device on the robot

If more detail is needed, please tell.

I'm new to ROS so If I say something not right, please let me know.

Thank you in advanced

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answered 2021-10-11 07:16:38 -0600

Mike Scheutzow gravatar image

There is no generic answer to your question, because it depends on your old and new setup. You need to understand what processing was done on the old camera data, and how the new camera is different. Here are some questions to think about (I'm not looking for answers, this is intended to guide your investigation):

  • Have you changed the algorithm used to determine depth?
  • Is the old/new camera calibrated?
  • Has the camera's Optical Transform Frame changed?
  • What information is used by the image analysis code?
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Asked: 2021-10-10 20:16:51 -0600

Seen: 25 times

Last updated: Oct 11 '21