added D435_head_camera frames so xbot publish their tf always

[torydebra]

see #29

[alaurenzi]

Wierd. CI fails on focal bionic only, with the following error:

cd build/iit-centauro-ros-pkg && make generate
Scanning dependencies of target generate_urdf_centauro
[ 12%] Generating /home/travis/build/ADVRHumanoids/forest_ws/build/iit-centauro-ros-pkg/centauro_urdf/centauro.urdf ..
resource not found: pholus_urdf

Any clue?

[torydebra]

Wierd. CI fails on focal only, with the following error:

cd build/iit-centauro-ros-pkg && make generate
Scanning dependencies of target generate_urdf_centauro
[ 12%] Generating /home/travis/build/ADVRHumanoids/forest_ws/build/iit-centauro-ros-pkg/centauro_urdf/centauro.urdf ..
resource not found: pholus_urdf

Any clue?

Related to #28 ?

[alaurenzi]

Yes I think something went wrong with a manual merge I had to make to integrate the new upper body by @aled96 ... yet I can't figure out why CI could pass..

[alaurenzi]

Let's follow this on #28

[alaurenzi]

Sorry to notice this has not been merged yet (in part due to unrelated CI issues). Is this still relevant @torydebra ?

[torydebra]

Yes I think so I am using this branch for a while.

The updates are:

• Possibility to add each camera separately (d435 head camera d435 body and t265 body cameras). Old option which add all of them (or none of them) is still supported:

  <xacro:if value="$(arg realsense)">
  <xacro:arg name="d435i_head" default="true"/>
  <xacro:arg name="d435i_base" default="true"/>
  <xacro:arg name="t265_base" default="true"/>
  </xacro:if>
  <xacro:unless value="$(arg realsense)">
  <xacro:arg name="d435i_head" default="false"/>
  <xacro:arg name="d435i_base" default="false"/>
  <xacro:arg name="t265_base" default="false"/>
  </xacro:unless>

  So one can use arg realsense to add all (default true), OR use d435i_head d435i_base t265_base singularly

• When using the simulated robot (gazebo) there is no necessity anymore to run another node to publish trasforms from robot to d435 (head and pelvis) root. Now the frames are added in the urdf, so it will be the xbot joint_state_publisher which link them publishing tf as for all other links. Obviously, frames are added only if d435i_base / d435i_head are set. Note that this is not done for T265, that by being a tracking camera makes this more complicated (#26)

I rembember that I have tested this updates, but maybe is better than someone else try them? For me is ok to merge to master

Note that I already integrated the @IoannisDadiotis PR #34 into this one.