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carnegierobotics / multisense_ros

ROS Wrapper for LibMultiSense
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Multiple Root Links If Using the Importable URDF Xacro File #59

Closed swiz23 closed 1 year ago

swiz23 commented 1 year ago

https://github.com/carnegierobotics/multisense_ros/blob/9464c37d91a62f9a72f20ca39a16575fc94c886d/multisense_description/urdf/multisenseKS21/importable.urdf.xacro#L8-L12

The multisenseKS21.urdf.xacro has a tree where both the head and the imu links are children of left_camera_optical_frame. However, the importable.urdf.xacro file tries to create a parent/child relationship between parent and head. This will cause there to be multiple root links in the urdf. To fix this, the multisenseKS21.urdf.xacro file should have head as the root link with the left_camea_optical_frame and imu as children.

swiz23 commented 1 year ago

just noticed that this seems to be a bug not just for the ks21 camera, but for all of the cameras here.

mattalvarado commented 1 year ago

Hopefully this is resolved in #61. I am curious what your use case is here, since the ROS driver only utilizes the standalone xacro files in the multisense_bringup launch file.

swiz23 commented 1 year ago

No use case. I was just browsing through the urdfs and realized that if one were to use the importable urdf, there would be this issue.

mattalvarado commented 1 year ago

Understood. To avoid confusion I will update this PR to remove those files. I think they were artifacts from a old Gazebo setup we previously supported, but at the moment I don't think anyone uses them.