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zivid / zivid-ros

Official ROS driver for Zivid 3D cameras
BSD 3-Clause "New" or "Revised" License
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No URDF file provided for TF ros #16

Open tyseng92 opened 4 years ago

tyseng92 commented 4 years ago

I have tried to integrate Zivid camera into my robotic system, replacing the Zed camera. I found out that this package does not contain urdf file for Zivid. Could you provide urdf file of Zivid and import it into rviz so that I can work on TF transformation in ROS? Hopefully the results will be something similar to this zed ros package with urdf.

runenordmo commented 4 years ago

Hi, @tyseng92. We'll consider adding such a urdf file, it could be useful for working with TF transforms, as well as rviz visualization / Gazebo simulation. We can provide necessary information if you are writing your own at the moment.

Could you elaborate on which fields you would like to see in the urdf file? What is the specific transform you need? And are you also using urdf for things like meshes for visualization or geometry for collision boxes?

- Rune Nordmo, Software Engineer at Zivid

dave992 commented 4 years ago

I recently made a description of the Zivid camera (Visual + Collision) for our project that integrates the Zivid on a robot using ROS. The description includes the projector and camera frames, visual geometry and simplified collision geometry.

I am now checking the package and pushing it to our fork. I hope to create a pull request with the added description package in a bit.

EDIT: I've created a pull request that should solve this issue (#17). Feel free to provide feedback so I can further improve it if necessary!