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POST No. 2407583
Change URDF description to reflect RPI camera changes in position and orientation
2019-09-09 13:58:47 thsamsung2019
Dear Robotis,

I'd like to change the position and orientation of the RPI camera on my Turtlebot3 Waffle Pi: tilt 15-degree upward and move 2 cm closer to the center of the robot in the x-axis (forward/backward), the y- and z- position remain the same (https://www.ros.org/reps/rep-0103.html).

Could you please let me know how I could modify the Waffle Pi URDF to reflect the above changes (tilting + position changing)? Thank you.

Best regards,
Tuan
2019-09-09 13:58:47
thsamsung2019
2019-09-17 10:35:06 Will Son

Hi Tuan,


I'm sorry for the late reply due to Thanksgiving holiday.

The Waffle Pi URDF is defined in the turtlebot3_waffle_pi.urdf.xacro file, and the camera section starts from below

https://github.com/ROBOTIS-GIT/turtlebot3/blob/master/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf.xacro#L188 


If you want to modify the RPI camera position, you can adjust the origin xyz(position) and rpy(rotation) values properly.

The unit of position is in meter(m) and rotation is in radian.

Please refer to URDF tutorial from below page.

http://wiki.ros.org/urdf/Tutorials 


Thank you.

2019-09-17 10:35:06
willson
2019-09-26 23:51:24 HO PHAN MINH TUAN

Hi willson,


Thank you. Could you please elaborate on the camera_joint and the camera_link? And why do they have different origin xyz (the pi cam is rigidly attached on the turtlebot3's plate)? Which origin and rpy should I modify, camera joint or camera link? Thanks.


Best regards,

Tuan

2019-09-26 23:51:24
thsamsung2019
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