[FEATURE]: Integrate camera link and joint into URDF

Robotic-Decision-Making-Lab / blue

ROS 2 platform for underwater robotics research and development.

https://robotic-decision-making-lab.github.io/blue/

MIT License

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[FEATURE]: Integrate camera link and joint into URDF #72

Closed evan-palmer closed 1 year ago

evan-palmer commented 1 year ago

Feature Type

Adding new functionality to the BlueROV2 driver

Problem Description

The current URDF does not include any frames for the camera. This can make it difficult to implement localizers that use the camera for estimation because the published pose will be incorrect.

Feature Description

Implement a link + joint for the camera in each of the BlueROV URDF files.

Alternative Solutions

N/A

Additional Context

No response

evan-palmer commented 1 year ago

I stumbled across this just now, and thought that it might be relevant: https://github.com/patrickelectric/bluerov_ros_playground/blob/master/model/BlueRov2.urdf.xacro