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Autobots-Visman / reinforcement-learning

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Modfiy URDF file and attach camera to the Handy robot #7

Open cerashdan opened 1 year ago

cerashdan commented 1 year ago

Related resources to solve the problem:

Handy source URDF description:

Related ROS packages

cerashdan commented 1 year ago

Possible solution, To be tested: 

<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="finalarm_description">
    <xacro:arg name="use_gazebo" default="true" />
    <xacro:include filename="$(find finalarm_description)/urdf/finalarm_description.urdf.xacro"/>

    <!-- Include the camera URDF -->
    <xacro:include filename="$(find YOUR_CAMERA_PACKAGE)/urdf/d435.urdf.xacro"/>

    <!-- Define the fixed joint to attach the camera -->
    <joint name="camera_joint" type="fixed">
        <parent link="LINK_NAME_ON_ROBOT_ARM"/> <!-- Replace with the actual link name -->
        <child link="BASE_LINK_OF_CAMERA"/> <!-- Replace with the base link of the camera -->
        <origin xyz="X Y Z" rpy="R P Y"/> <!-- Adjust position (X Y Z) and orientation (R P Y) -->
    </joint>
</robot>
cerashdan commented 1 year ago

@acmiyaguchi I have attached the camera to the end effector, not sure how to include it with the motion planner moveit.