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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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[ros1-legacy] d435 collision is off #3085

Open nyxrobotics opened 5 months ago

nyxrobotics commented 5 months ago
Required Info
Camera Model { D435 / D435i }
Firmware Version (Gazebo)
Operating System & Version { Ubuntu 20.04 + ROS noetic }
Kernel Version (Linux Only) (5.4)
Platform PC
Librealsense SDK Version { 2.50.0 }
Language {xacro}
Segment {Robot}
ROS Distro {Noetic}
RealSense ROS Wrapper Version {4.55.1}

Issue Description

The origin of the box used for realsense d435 collision is off I need to fix _d435.urdf.xacro to fix it

Before

https://github.com/IntelRealSense/realsense-ros/blob/b14ce433d1cccd2dfb1ab316c0ff1715e16ab961/realsense2_description/urdf/_d435.urdf.xacro#L77 Screenshot from 2024-04-22 16-29-39

After

        <origin xyz="-0.0085 ${-d435_cam_depth_py} 0" rpy="0 0 0"/>

Screenshot from 2024-04-22 20-04-57

MartyG-RealSense commented 5 months ago

Hi @nyxrobotics Thanks very much for contributing your PR at https://github.com/IntelRealSense/realsense-ros/pull/3086

I have added an Enhancement label to this case to signify that it should be kept open whilst your PR is active.