ricardo.sutana's profile - activity

Hi guys

I`m trying to add a kinect v2 sensor model to turtlebot3 robot.

I download the kinect model from this repository and it work when I launch in gazebo with the command

roslaunch kinect_v2 gazebo.launch

The turtlebot robot was installed by

sudo apt-get install ros-kinetic-turtlebot3*

The simulation is loaded correctly when I launch it by the command:

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

The topics from the robot are correctly published

Now, I would like to add the kinect sensor model to the turtlebot3 robot. In the folder /opt/ros/kinetic/share/turtlebot3_description/urdf only has .xacro files. One of then is the turtlebot3_burguer.urdf.xacro which I suppose to be the one to be modified.

<?xml version="1.0" ?>
<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
  <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>

  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
  </joint>

  <link name="base_link">
    <visual>
      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="light_black"/>
    </visual>

    <collision>
      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
      <geometry>
        <box size="0.140 0.140 0.143"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="8.2573504e-01"/>
      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
               iyy="2.1193702e-03" iyz="-5.0120904e-06"
               izz="2.0064271e-03" />
    </inertial>
  </link>

  <joint name="wheel_left_joint" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_left_link"/>
    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>

  <link name="wheel_left_link">
    <visual>
      <origin xyz="0 0 0" rpy="1.57 0 0"/>
      <geometry>
        <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="dark"/>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.018" radius="0.033"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0" />
      <mass value="2.8498940e-02" />
      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
               iyy="1.1192413e-05" iyz="-1.4400107e-11"
               izz="2.0712558e-05" />
      </inertial>
  </link>

  <joint name="wheel_right_joint" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_right_link"/>
    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>

  <link name="wheel_right_link">
    <visual>
      <origin xyz="0 0 0" rpy="1.57 0 0"/>
      <geometry>
        <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001 ...