0. 下载链接

realsense-ros：https://github.com/IntelRealSense/realsense-ros

1. 查看模型

roslaunch realsense2_description view_d435_model.launch

2. 将相机添加到 UR3 模型中

2.1 新建 ur3_ft_gripper140_realsensed435_robot.urdf.xacro

修改 ur3_ft_gripper140_realsensed435_robot.urdf.xacro文件中的内容，添加下面代码的最后一段（这段代码来自realsense2_description/urdf/test_d435_camera.urdf.xacro）：

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro"
       name="ur3" >

    <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>

    <!-- common stuff -->
    <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />

    <!-- ur3 -->
    <xacro:include filename="$(find ur_description)/urdf/ur3.urdf.xacro" />

    <!-- arm -->
    <xacro:ur3_robot prefix="" joint_limited="false"
        transmission_hw_interface="$(arg transmission_hw_interface)"
    />

    <link name="world" />

    <joint name="world_joint" type="fixed">
        <parent link="world" />
        <child link = "base_link" />
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    </joint>

    <!-- Add  robotiq_ft300-->
    <xacro:include filename="$(find robotiq_ft_sensor)/urdf/robotiq_ft300.urdf.xacro" />
    <xacro:robotiq_ft300 parent="tool0" prefix="">
		<origin xyz="0 0 0" rpy="0 0 0"/> 
    </xacro:robotiq_ft300>

    <!-- Add  robotiq arg2f140-->
    <!-- Copy from robotiq_arg2f_140_model.xacro -->
    <xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f_140_model_macro.xacro" />
    <xacro:robotiq_arg2f_140 prefix=""/>
    <!-- Link to the end of ft300 -->
    <joint name="ft_gripper_joint" type="fixed">
        <parent link="robotiq_ft_frame_id"/>
        <child link="robotiq_arg2f_base_link"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </joint>
    
    <!-- Add realsense d435 -->
    <xacro:arg name="use_nominal_extrinsics" default="false"/>
    <xacro:arg name="add_plug" default="false" />
    <xacro:arg name="use_mesh" default="true" />
    <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
    <xacro:sensor_d435 parent="world" use_nominal_extrinsics="$(arg use_nominal_extrinsics)" add_plug="$(arg add_plug)" use_mesh="$(arg use_mesh)">
        <origin xyz="0.4 0 1" rpy="0 1.57 0"/>
    </xacro:sensor_d435>
    
</robot>

添加后的效果如下：

2.2 新建文件ur3_ft_gripper140_realsensed435_upload.launch

• 复制ur3_ft_gripper140_upload.launch的内容，并修改得到：

• <?xml version="1.0"?>
  <launch>
    <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
    <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
  
    <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_ft_gripper140_realsensed435_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
    <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
  </launch>
  

• 修改后效果如下：
• 

• 2.3 新建文件view_ur3_ft_gripper140_realsensed435.launch

  • 复制view_ur3_ft_gripper140_realsensed435.launch中的内容，修改后得到：

  • <?xml version="1.0"?>
    <launch>
      <include file="$(find ur_description)/launch/ur3_ft_gripper140_realsensed435_upload.launch"/>
    
      <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" >
        <param name="use_gui" value="true"/>
      </node>
      <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
      <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
    </launch>
    

  • 修改后效果如下：
  • 

  • 2.4 查看最终效果

  • roslaunch ur_description view_ur3_ft_gripper140_realsensed435.launch
    

  •