Add a convert script from calib_pose.yaml to urdf format

[eisoku9618]

I would like to appply the result of the extrinsics calibration to my urdf, but the format of calib_pose.yaml is different from the one of urdf.

	calib_pose.yaml	urdf
rotation	3x3 matrix	rpy
parent / child	no description	need to specify

So I added a utility script to convert calib_pose.yaml to urdf.

command

./convert_calib_pose_to_urdf_format.py -f ../../kinect2_bridge/data/299150235147/calib_pose.yaml

• https://github.com/code-iai/iai_kinect2/blob/master/kinect2_bridge/data/299150235147/calib_pose.yaml#L2-L16

output

    <joint name="kinect2_rgb_joint" type="fixed">
      <origin xyz="-0.0520171521241 -0.000240451181123 0.000294544694029" rpy="0.00178209349915 -0.000222819786098 -0.00114226514527"/>
      <parent link="kinect2_rgb_optical_frame"/>
      <child link="kinect2_ir_optical_frame"/>
    </joint>