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Use nominal extrinsics for Realsense D435 camera #2

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Use nominal extrinsics for Realsense D435 camera #2

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8 changes: 4 additions & 4 deletions ari_description/urdf/torso/torso_sensors.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
<xacro:property name="torso_back_camera_orientation_r" value="0.0" />
<xacro:property name="torso_back_camera_orientation_p" value="${15 * deg_to_rad}" />
<xacro:property name="torso_back_camera_orientation_y" value="${180 * deg_to_rad}" />

<!-- Laser characteristics -->
<xacro:property name="base_laser_x" value="-0.34"/>
<xacro:property name="base_laser_y" value="0.0"/>
Expand All @@ -43,7 +43,7 @@

<!-- Torso sensors -->
<!-- Torso front camera -->
<sensor_d435 parent="${parent}" name="${name}_front_camera" topics_ns="${name}_front_camera">
<sensor_d435 parent="${parent}" name="${name}_front_camera" topics_ns="${name}_front_camera" use_nominal_extrinsics="true">
<origin xyz="${torso_front_camera_position_x} ${torso_front_camera_position_y} ${torso_front_camera_position_z}"
rpy="${torso_front_camera_orientation_r} ${torso_front_camera_orientation_p} ${torso_front_camera_orientation_y}"/>
</sensor_d435>
Expand Down Expand Up @@ -129,6 +129,6 @@
</xacro:if>

</xacro:macro>


</robot>