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Add models for Zivid 3 XL250 #169

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3 changes: 2 additions & 1 deletion README.md
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Expand Up @@ -994,7 +994,7 @@ of the point cloud in a target coordinate frame.

The URDF or the underlying macro can be included in your own project.

To view the Zivid 2, Zivid 2+, or Zivid 2+R cameras in RViz:
To view the Zivid 2, Zivid 2+, Zivid 2+R, or Zivid 3 cameras in RViz:
```
ros2 launch zivid_samples zivid_camera_with_rviz.launch model:=ZIVID_2_M70 field_of_view:=true
```
Expand All @@ -1017,6 +1017,7 @@ The available Zivid camera models are:
- `ZIVID_2_PLUS_LR110`
- `ZIVID_2_PLUS_MR130`
- `ZIVID_2_PLUS_MR60`
- `ZIVID_3_XL250`

## Frequently Asked Questions

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13 changes: 11 additions & 2 deletions zivid_description/urdf/macros/zivid_camera.xacro
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Expand Up @@ -7,6 +7,8 @@

<xacro:macro name="zivid_camera" params="prefix model field_of_view">
<xacro:property name="fov_filename" value="" />
<xacro:property name="visual_mesh" value="zivid_2_plus.stl" />
<xacro:property name="collision_mesh" value="zivid_2_plus_convex_hull.stl" />

<xacro:if value="${model == 'ZIVID_2_M70'}">
<xacro:property name="optical_center" value="0.04802 0.03084 0.0295" />
Expand Down Expand Up @@ -48,6 +50,13 @@
<xacro:property name="optical_angle_deg" value="0.0" />
<xacro:property name="fov_filename" value="zivid_2_plus_m130_fov" />
</xacro:if>
<xacro:if value="${model == 'ZIVID_3_XL250'}">
<xacro:property name="optical_center" value="0.047 0.10050 0.0365" />
<xacro:property name="optical_angle_deg" value="0.0" />
<xacro:property name="fov_filename" value="zivid_3_xl250_fov" />
<xacro:property name="visual_mesh" value="zivid_3.stl" />
<xacro:property name="collision_mesh" value="zivid_3_convex_hull.stl" />
</xacro:if>

<!-- Make xacro error out if the provided camera model was not recognized -->
<xacro:if value="${fov_filename == ''}">
Expand All @@ -60,7 +69,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 ${0.5*pi}"/>
<geometry>
<mesh filename="package://zivid_description/meshes/visual/zivid_2_plus.stl"/>
<mesh filename="package://zivid_description/meshes/visual/${visual_mesh}"/>
</geometry>
<material name="zivid_gray"/>
</visual>
Expand All @@ -69,7 +78,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 ${0.5*pi}"/>
<geometry>
<mesh filename="package://zivid_description/meshes/collision/zivid_2_plus_convex_hull.stl"/>
<mesh filename="package://zivid_description/meshes/collision/${collision_mesh}"/>
</geometry>
</collision>
</link>
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