Azure camera integration on to the UR3e arm #47
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ChandimaFernando
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maffettone
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Oct 9, 2024
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Some minor changes.
The name hande_black to be more descriptive. And throughout avoid unnecessary duplication of files: the new xacro has "no screws", but that shouldn't effect the fingers or the coupling. In fact, the previous hande meshes should just be updated to be consistent with reality, and then this new folder and naming would be obsolete.
Please add some figures explaining the differences.
src/ur3e_hande_robot_description/meshes/hande_black/coupler.dae
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src/ur3e_hande_robot_description/meshes/hande_black/coupler.stl
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src/ur3e_hande_robot_description/meshes/hande_black/finger_collision.dae
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src/ur3e_hande_robot_description/meshes/hande/collision/coupler.dae
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maffettone
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Oct 9, 2024
src/ur3e_hande_robot_description/meshes/camera_mount/collision/azure_kinect_reduced.stl
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maffettone
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Oct 21, 2024
maffettone
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Oct 21, 2024
maffettone
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Oct 21, 2024
maffettone
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Oct 21, 2024
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This PR includes the integration of the Azure Kinect on to the robot's wrist and necessary changes to the packages aruco_pose and pdf_beamtime. In addition to the Kinect, a custom made mount and a coupler to the Robotiq gripper are added in this PR.
(Note: Some duplicate files remain to preserve the previous camera setup where the camera was mounted separately, away from the arm.)