Skip to content

Commit

Permalink
Merge pull request #3 from ModernOctave/add-mesh
Browse files Browse the repository at this point in the history
Add D435 & D435i meshes to get rid of realsense2_description dependency
  • Loading branch information
m-tartari authored Dec 28, 2023
2 parents 45a8059 + 393bfed commit c329f82
Show file tree
Hide file tree
Showing 5 changed files with 850 additions and 9 deletions.
2 changes: 0 additions & 2 deletions CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,6 @@ find_package(catkin REQUIRED COMPONENTS
image_transport
camera_info_manager
realsense_gazebo_plugin
realsense2_description
)
find_package(gazebo REQUIRED)

Expand All @@ -33,7 +32,6 @@ catkin_package(
image_transport
camera_info_manager
realsense_gazebo_plugin
realsense2_description
)

###########
Expand Down
848 changes: 848 additions & 0 deletions meshes/d435.dae

Large diffs are not rendered by default.

1 change: 0 additions & 1 deletion package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,6 @@
<depend>image_transport</depend>
<depend>camera_info_manager</depend>
<depend>realsense_gazebo_plugin</depend>
<depend>realsense2_description</depend>

<!-- The export tag contains other, unspecified, tags -->
<export>
Expand Down
4 changes: 1 addition & 3 deletions urdf/_d435.urdf.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -82,9 +82,7 @@ aluminum peripherial evaluation case.
<visual>
<origin xyz="${d435_cam_mount_from_center_offset} ${-d435_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
<geometry>
<!-- <box size="${d435_cam_width} ${d435_cam_height} ${d435_cam_depth}"/> -->
<mesh filename="package://realsense2_description/meshes/d435.dae"/>
<!--<mesh filename="package://realsense2_description/meshes/d435/d435.dae"/>-->
<mesh filename="package://realsense_gazebo_description/meshes/d435.dae"/>
</geometry>
<material name="${name}_aluminum"/>
</visual>
Expand Down
4 changes: 1 addition & 3 deletions urdf/_d435i.urdf.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -86,9 +86,7 @@ aluminum peripherial evaluation case.
<visual>
<origin xyz="${d435i_cam_mount_from_center_offset} ${-d435i_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
<geometry>
<!-- <box size="${d435i_cam_width} ${d435i_cam_height} ${d435i_cam_depth}"/> -->
<mesh filename="package://realsense2_description/meshes/d435.dae"/>
<!--<mesh filename="package://realsense2_description/meshes/d435/d435.dae"/>-->
<mesh filename="package://realsense_gazebo_description/meshes/d435.dae"/>
</geometry>
<material name="${name}_aluminum"/>
</visual>
Expand Down

0 comments on commit c329f82

Please sign in to comment.