search

pal-robotics / realsense_gazebo_plugin

167 stars 140 forks source link

SDF model #1

Closed mzahana closed 4 years ago

mzahana commented 4 years ago

Hi,

Thank you for providing this package. I am looking for the SDF file for the camera model. Can you please mention how to generate D435 SDF file from the available xacro files? I tried to use xacro package to first get a urdf file then convert it to sdf but did not provide proper urdf file. I am using ROS Kinetic.

Here is what I get when I run:

rosrun xacro xacro --inorder d435.urdf.xacro

Result:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from d435.urdf.xacro                | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!--
License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 Intel Corporation. All Rights Reserved

This is the URDF model for the Intel RealSense 430 camera, in it's
aluminum peripherial evaluation case.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
</robot>

Thanks

mzahana commented 4 years ago

Closing this as I managed to solve this in https://github.com/mzahana/realsense_gazebo_plugin/tree/kinetic-devel

Basically, I had to create d435.xacro which invokes macros defined in d435.urdf.xacro. I did that in kinetic-devel branch as I am using ROS Kinetic.