기존 URDF 모델에 RGBD Camera 추가하기. (Intel D435 모델)

관련 패키지 설치

$ sudo apt install ros-melodic-realsense2-description

URDF 파일에 D435 카메라 추가

<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />

...

<xacro:sensor_d435 parent="mount_box" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
    <origin xyz="-0.37 0 0.435" rpy="0 0 ${pi}"/>
</xacro:sensor_d435>

upload_robot.lauch 파일 수정 (카메라 관련 파라미터 추가)

<launch>
    <param name="robot_description" command="$(find xacro)/xacro $(find mobile_manipulator_robot_description)/urdf/robot.urdf.xacro use_nominal_extrinsics:=true add_plug:=false" />
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>
    <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher"/>
</launch>

MoveIt Setup Assistant에서 3D Perception 부분 추가

(xacro option 추가: use_nominal_extrinsics:=true add_plug:=false)

저장 후 종료.

catkin_ws/src/learn-ros1/mobile_manipulator_robot_moveit_config/config/sensors_3d.yaml

# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
sensors:
  - filtered_cloud_topic: filtered_cloud
    max_range: 5.0
    max_update_rate: 5
    padding_offset: 0.1
    padding_scale: 1.0
    point_cloud_topic: camera/depth_registered/points
    point_subsample: 1
    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater