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Urdf Depth Camera #23

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Merged
mdurrani808 merged 2 commits into from
Jan 15, 2026
Merged

Urdf Depth Camera #23

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c1daf0e
added depth camera to urdf
ShivamAmin05 Jan 7, 2026
554362b
Merge branch 'main' into main
mdurrani808 Jan 11, 2026
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7 changes: 6 additions & 1 deletion src/description/urdf/athena_drive.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
<xacro:include filename="imu.xacro"/>
<xacro:include filename="gps.xacro"/>
<xacro:include filename="ground_truth_odom.xacro"/>
<xacro:include filename="depth_camera.xacro"/>


<!-- Load robot's macro with parameters -->
Expand Down Expand Up @@ -49,6 +50,10 @@

<xacro:ground_truth_odometry/>

<xacro:depth_camera parent_link="base_link">
<origin xyz="0.75 0 -0.37" rpy="0 0 0"/>
</xacro:depth_camera>

<xacro:if value="$(arg use_mock_hardware)">
<xacro:athena_drive_ros2_control
name="athena_drive"
Expand All @@ -64,4 +69,4 @@
</xacro:unless>


</robot>
</robot>
68 changes: 68 additions & 0 deletions src/description/urdf/depth_camera.xacro
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Original file line number Diff line number Diff line change
@@ -0,0 +1,68 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="depth_camera" params="parent_link *origin">
<link name="depth_camera_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.025 0.09 0.025"/>
</geometry>
<material name="camera_material">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.025 0.09 0.025"/>
</geometry>
</collision>
<inertial>
<mass value="0.072"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.00001" ixy="0.0" ixz="0.0"
iyy="0.00001" iyz="0.0"
izz="0.00001"/>
</inertial>
</link>

<link name="depth_camera_optical_frame"/>

<joint name="depth_camera_joint" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="${parent_link}"/>
<child link="depth_camera_link"/>
</joint>

<joint name="depth_camera_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
<parent link="depth_camera_link"/>
<child link="depth_camera_optical_frame"/>
</joint>

<gazebo reference="depth_camera_link">
<sensor name="depth_camera" type="depth_camera">
<always_on>1</always_on>
<update_rate>30</update_rate>
<topic>depth_camera</topic>
<camera name="depth_camera">
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R_FLOAT32</format>
</image>
<clip>
<near>0.1</near>
<far>10.0</far>
</clip>
</camera>
<plugin filename="libgz-sim-sensors-system.so" name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
</sensor>
</gazebo>

</xacro:macro>
</robot>
11 changes: 11 additions & 0 deletions src/simulation/launch/bridge.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,17 @@ def generate_launch_description():
],
),

Node(
package='ros_gz_bridge',
executable='parameter_bridge',
name='depth_camera_bridge',
output='screen',
arguments=[
'/depth_camera@sensor_msgs/msg/Image[ignition.msgs.Image',
'/depth_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked',
],
),

Node(
package='ros_gz_bridge',
executable='parameter_bridge',
Expand Down