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Tinker-Twins / Husky

ROS Packages for Husky Robot
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Depth Camera #3

Closed kursatkomurcu closed 1 year ago

kursatkomurcu commented 1 year ago

Hello,

I want to use depth camera and suppose the intel_realsense.urdf.xacro file is for depth camera. But I cannot see topics for this and depth camera images. How can I do that?

OS: Ubuntu 20.04 ROS Version: Noetic

Best Regards

Tinker-Twins commented 1 year ago

Please note that although the intel_realsense.urdf.xacro file is included in husky.urdf.xacro file, this (and some other devices) are NOT enabled by default (it is a customization preference for the users).

That being said, we have updated the husky.urdf.xacro file to enable the depth camera. We have also updated the README.md to include the additional dependency realsense2_description required to make this work.

On a related note, looking for and modifying the <DEVICE_NAME>_ENABLED tag in husky.urdf.xacro should help you with enabling/disabling certain devices of choice (1 corresponds to ENABLE and 0 corresponds to DISABLE). Furthermore, additional customizations such as changing mounting positions, etc. can be achieved using other tags (e.g. XYZ or RPY).

So, as a resolution to your issue, just downloading and building the latest version of this repository (along with the additional dependency as mentioned above) should work!

Hope this helps!