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Updated MoveIt! config and added Gazebo cameras on helmet

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-05-28 01:54:23 +03:00
parent 86dbc35789
commit f113824ca2
3 changed files with 155 additions and 94 deletions
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87
nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
View File

@ -82,6 +82,7 @@
<disable_collisions link1="LElbowDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LElbowDummy" link2="neck" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="LHip" link2="LHipDummy" reason="Adjacent" />
@ -89,7 +90,6 @@
<disable_collisions link1="LHip" link2="LKnee" reason="Never" />
<disable_collisions link1="LHip" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHip" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHip" link2="LeftCamera" reason="Never" />
<disable_collisions link1="LHip" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RHip" reason="Never" />
<disable_collisions link1="LHip" link2="RHipDummy" reason="Never" />
@ -97,32 +97,31 @@
<disable_collisions link1="LHip" link2="RKnee" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RightCamera" reason="Never" />
<disable_collisions link1="LHip" link2="gaze" reason="Never" />
<disable_collisions link1="LHip" link2="helmet" reason="Never" />
<disable_collisions link1="LHip" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHip" link2="neck" reason="Never" />
<disable_collisions link1="LHip" link2="odroid" reason="Never" />
<disable_collisions link1="LHip" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHip" link2="r_sole" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LHipYaw" reason="Default" />
<disable_collisions link1="LHipDummy" link2="LKnee" reason="Adjacent" />
<disable_collisions link1="LHipDummy" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LeftCamera" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RHip" reason="Default" />
<disable_collisions link1="LHipDummy" link2="RHipDummy" reason="Default" />
<disable_collisions link1="LHipDummy" link2="RHipYaw" reason="Default" />
<disable_collisions link1="LHipDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RightCamera" reason="Never" />
<disable_collisions link1="LHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="LHipDummy" link2="helmet" reason="Never" />
<disable_collisions link1="LHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="LHipDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LHipDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHipDummy" link2="torso" reason="Default" />
<disable_collisions link1="LHipYaw" link2="LKnee" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LeftCamera" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RHip" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RHipDummy" reason="Never" />
@ -130,26 +129,23 @@
<disable_collisions link1="LHipYaw" link2="RKnee" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RightCamera" reason="Never" />
<disable_collisions link1="LHipYaw" link2="gaze" reason="Never" />
<disable_collisions link1="LHipYaw" link2="helmet" reason="Never" />
<disable_collisions link1="LHipYaw" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHipYaw" link2="neck" reason="Never" />
<disable_collisions link1="LHipYaw" link2="r_wrist" reason="Never" />
<disable_collisions link1="LHipYaw" link2="odroid" reason="Never" />
<disable_collisions link1="LHipYaw" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHipYaw" link2="torso" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="LShoulder" reason="Never" />
<disable_collisions link1="LKnee" link2="LeftCamera" reason="Never" />
<disable_collisions link1="LKnee" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LKnee" link2="RKnee" reason="Default" />
<disable_collisions link1="LKnee" link2="RShoulder" reason="Never" />
<disable_collisions link1="LKnee" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LKnee" link2="RightCamera" reason="Never" />
<disable_collisions link1="LKnee" link2="gaze" reason="Never" />
<disable_collisions link1="LKnee" link2="helmet" reason="Never" />
<disable_collisions link1="LKnee" link2="l_ankle" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="neck" reason="Never" />
<disable_collisions link1="LKnee" link2="odroid" reason="Never" />
<disable_collisions link1="LKnee" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LShoulder" link2="LShoulderDummy" reason="Adjacent" />
<disable_collisions link1="LShoulder" link2="LeftCamera" reason="Never" />
<disable_collisions link1="LShoulder" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHip" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHipDummy" reason="Never" />
@ -157,13 +153,14 @@
<disable_collisions link1="LShoulder" link2="RKnee" reason="Never" />
<disable_collisions link1="LShoulder" link2="RShoulder" reason="Never" />
<disable_collisions link1="LShoulder" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="RightCamera" reason="Never" />
<disable_collisions link1="LShoulder" link2="gaze" reason="Default" />
<disable_collisions link1="LShoulder" link2="helmet" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_ankle" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_sole" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_wrist" reason="Never" />
<disable_collisions link1="LShoulder" link2="neck" reason="Never" />
<disable_collisions link1="LShoulder" link2="odroid" reason="Never" />
<disable_collisions link1="LShoulder" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_ankle" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_sole" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_wrist" reason="Never" />
@ -179,28 +176,15 @@
<disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="neck" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="torso" reason="Default" />
<disable_collisions link1="LeftCamera" link2="RHip" reason="Never" />
<disable_collisions link1="LeftCamera" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LeftCamera" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LeftCamera" link2="RKnee" reason="Never" />
<disable_collisions link1="LeftCamera" link2="RShoulder" reason="Never" />
<disable_collisions link1="LeftCamera" link2="RightCamera" reason="Never" />
<disable_collisions link1="LeftCamera" link2="gaze" reason="Never" />
<disable_collisions link1="LeftCamera" link2="helmet" reason="Adjacent" />
<disable_collisions link1="LeftCamera" link2="l_ankle" reason="Never" />
<disable_collisions link1="LeftCamera" link2="l_sole" reason="Never" />
<disable_collisions link1="LeftCamera" link2="neck" reason="Never" />
<disable_collisions link1="LeftCamera" link2="r_ankle" reason="Never" />
<disable_collisions link1="LeftCamera" link2="r_sole" reason="Never" />
<disable_collisions link1="LeftCamera" link2="torso" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RElbowDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="neck" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
@ -208,89 +192,98 @@
<disable_collisions link1="RHip" link2="RKnee" reason="Never" />
<disable_collisions link1="RHip" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHip" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHip" link2="RightCamera" reason="Never" />
<disable_collisions link1="RHip" link2="gaze" reason="Never" />
<disable_collisions link1="RHip" link2="helmet" reason="Never" />
<disable_collisions link1="RHip" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHip" link2="neck" reason="Never" />
<disable_collisions link1="RHip" link2="odroid" reason="Never" />
<disable_collisions link1="RHip" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RHip" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHip" link2="torso" reason="Never" />
<disable_collisions link1="RHipDummy" link2="RHipYaw" reason="Default" />
<disable_collisions link1="RHipDummy" link2="RKnee" reason="Adjacent" />
<disable_collisions link1="RHipDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHipDummy" link2="RightCamera" reason="Never" />
<disable_collisions link1="RHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="RHipDummy" link2="helmet" reason="Never" />
<disable_collisions link1="RHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="RHipDummy" link2="odroid" reason="Never" />
<disable_collisions link1="RHipDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RHipDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RKnee" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RightCamera" reason="Never" />
<disable_collisions link1="RHipYaw" link2="gaze" reason="Never" />
<disable_collisions link1="RHipYaw" link2="helmet" reason="Never" />
<disable_collisions link1="RHipYaw" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHipYaw" link2="neck" reason="Never" />
<disable_collisions link1="RHipYaw" link2="odroid" reason="Never" />
<disable_collisions link1="RHipYaw" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RHipYaw" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHipYaw" link2="torso" reason="Adjacent" />
<disable_collisions link1="RKnee" link2="RShoulder" reason="Never" />
<disable_collisions link1="RKnee" link2="RightCamera" reason="Never" />
<disable_collisions link1="RKnee" link2="gaze" reason="Never" />
<disable_collisions link1="RKnee" link2="helmet" reason="Never" />
<disable_collisions link1="RKnee" link2="l_wrist" reason="Never" />
<disable_collisions link1="RKnee" link2="neck" reason="Never" />
<disable_collisions link1="RKnee" link2="odroid" reason="Never" />
<disable_collisions link1="RKnee" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RKnee" link2="r_ankle" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="RightCamera" reason="Never" />
<disable_collisions link1="RShoulder" link2="helmet" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_ankle" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_sole" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_wrist" reason="Never" />
<disable_collisions link1="RShoulder" link2="neck" reason="Never" />
<disable_collisions link1="RShoulder" link2="odroid" reason="Never" />
<disable_collisions link1="RShoulder" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_ankle" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_sole" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_wrist" reason="Never" />
<disable_collisions link1="RShoulder" link2="torso" reason="Adjacent" />
<disable_collisions link1="RShoulderDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="neck" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="odroid" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
<disable_collisions link1="RightCamera" link2="gaze" reason="Never" />
<disable_collisions link1="RightCamera" link2="helmet" reason="Adjacent" />
<disable_collisions link1="RightCamera" link2="l_ankle" reason="Never" />
<disable_collisions link1="RightCamera" link2="l_sole" reason="Never" />
<disable_collisions link1="RightCamera" link2="neck" reason="Never" />
<disable_collisions link1="RightCamera" link2="r_ankle" reason="Never" />
<disable_collisions link1="RightCamera" link2="r_sole" reason="Never" />
<disable_collisions link1="RightCamera" link2="torso" reason="Never" />
<disable_collisions link1="gaze" link2="helmet" reason="Adjacent" />
<disable_collisions link1="gaze" link2="l_ankle" reason="Never" />
<disable_collisions link1="gaze" link2="l_sole" reason="Never" />
<disable_collisions link1="gaze" link2="neck" reason="Adjacent" />
<disable_collisions link1="gaze" link2="odroid_bag" reason="Default" />
<disable_collisions link1="gaze" link2="r_ankle" reason="Never" />
<disable_collisions link1="gaze" link2="r_sole" reason="Never" />
<disable_collisions link1="gaze" link2="torso" reason="Default" />
<disable_collisions link1="helmet" link2="l_ankle" reason="Never" />
<disable_collisions link1="helmet" link2="l_sole" reason="Never" />
<disable_collisions link1="helmet" link2="neck" reason="Never" />
<disable_collisions link1="helmet" link2="odroid" reason="Never" />
<disable_collisions link1="helmet" link2="odroid_bag" reason="Never" />
<disable_collisions link1="helmet" link2="r_ankle" reason="Never" />
<disable_collisions link1="helmet" link2="r_sole" reason="Never" />
<disable_collisions link1="helmet" link2="torso" reason="Never" />
<disable_collisions link1="l_ankle" link2="l_sole" reason="Adjacent" />
<disable_collisions link1="l_ankle" link2="neck" reason="Never" />
<disable_collisions link1="l_ankle" link2="odroid" reason="Never" />
<disable_collisions link1="l_ankle" link2="odroid_bag" reason="Never" />
<disable_collisions link1="l_ankle" link2="r_wrist" reason="Never" />
<disable_collisions link1="l_sole" link2="neck" reason="Never" />
<disable_collisions link1="l_sole" link2="r_wrist" reason="Never" />
<disable_collisions link1="l_sole" link2="odroid" reason="Never" />
<disable_collisions link1="l_sole" link2="odroid_bag" reason="Never" />
<disable_collisions link1="l_wrist" link2="neck" reason="Never" />
<disable_collisions link1="l_wrist" link2="r_ankle" reason="Never" />
<disable_collisions link1="l_wrist" link2="r_sole" reason="Never" />
<disable_collisions link1="neck" link2="odroid" reason="Never" />
<disable_collisions link1="neck" link2="odroid_bag" reason="Never" />
<disable_collisions link1="neck" link2="r_ankle" reason="Never" />
<disable_collisions link1="neck" link2="r_sole" reason="Never" />
<disable_collisions link1="neck" link2="r_wrist" reason="Never" />
<disable_collisions link1="neck" link2="torso" reason="Adjacent" />
<disable_collisions link1="odroid" link2="odroid_bag" reason="Adjacent" />
<disable_collisions link1="odroid" link2="r_ankle" reason="Never" />
<disable_collisions link1="odroid" link2="r_sole" reason="Never" />
<disable_collisions link1="odroid" link2="torso" reason="Never" />
<disable_collisions link1="odroid_bag" link2="r_ankle" reason="Never" />
<disable_collisions link1="odroid_bag" link2="r_sole" reason="Never" />
<disable_collisions link1="odroid_bag" link2="torso" reason="Adjacent" />
<disable_collisions link1="r_ankle" link2="r_sole" reason="Adjacent" />
<disable_collisions link1="r_ankle" link2="torso" reason="Never" />
<disable_collisions link1="r_sole" link2="torso" reason="Never" />

87
nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H25.srdf
View File

@ -113,6 +113,7 @@
<disable_collisions link1="LElbowDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LElbowDummy" link2="neck" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="LElbowDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="LHip" link2="LHipDummy" reason="Adjacent" />
@ -120,7 +121,6 @@
<disable_collisions link1="LHip" link2="LKnee" reason="Never" />
<disable_collisions link1="LHip" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHip" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHip" link2="LeftCamera" reason="Never" />
<disable_collisions link1="LHip" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RHip" reason="Never" />
<disable_collisions link1="LHip" link2="RHipDummy" reason="Never" />
@ -128,32 +128,31 @@
<disable_collisions link1="LHip" link2="RKnee" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHip" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHip" link2="RightCamera" reason="Never" />
<disable_collisions link1="LHip" link2="gaze" reason="Never" />
<disable_collisions link1="LHip" link2="helmet" reason="Never" />
<disable_collisions link1="LHip" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHip" link2="neck" reason="Never" />
<disable_collisions link1="LHip" link2="odroid" reason="Never" />
<disable_collisions link1="LHip" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHip" link2="r_sole" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LHipYaw" reason="Default" />
<disable_collisions link1="LHipDummy" link2="LKnee" reason="Adjacent" />
<disable_collisions link1="LHipDummy" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="LeftCamera" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RHip" reason="Default" />
<disable_collisions link1="LHipDummy" link2="RHipDummy" reason="Default" />
<disable_collisions link1="LHipDummy" link2="RHipYaw" reason="Default" />
<disable_collisions link1="LHipDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHipDummy" link2="RightCamera" reason="Never" />
<disable_collisions link1="LHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="LHipDummy" link2="helmet" reason="Never" />
<disable_collisions link1="LHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="LHipDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LHipDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHipDummy" link2="torso" reason="Default" />
<disable_collisions link1="LHipYaw" link2="LKnee" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LShoulder" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LShoulderDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="LeftCamera" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RHip" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RHipDummy" reason="Never" />
@ -161,26 +160,23 @@
<disable_collisions link1="LHipYaw" link2="RKnee" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RShoulder" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LHipYaw" link2="RightCamera" reason="Never" />
<disable_collisions link1="LHipYaw" link2="gaze" reason="Never" />
<disable_collisions link1="LHipYaw" link2="helmet" reason="Never" />
<disable_collisions link1="LHipYaw" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHipYaw" link2="neck" reason="Never" />
<disable_collisions link1="LHipYaw" link2="r_wrist" reason="Never" />
<disable_collisions link1="LHipYaw" link2="odroid" reason="Never" />
<disable_collisions link1="LHipYaw" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LHipYaw" link2="torso" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="LShoulder" reason="Never" />
<disable_collisions link1="LKnee" link2="LeftCamera" reason="Never" />
<disable_collisions link1="LKnee" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LKnee" link2="RKnee" reason="Default" />
<disable_collisions link1="LKnee" link2="RShoulder" reason="Never" />
<disable_collisions link1="LKnee" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LKnee" link2="RightCamera" reason="Never" />
<disable_collisions link1="LKnee" link2="gaze" reason="Never" />
<disable_collisions link1="LKnee" link2="helmet" reason="Never" />
<disable_collisions link1="LKnee" link2="l_ankle" reason="Adjacent" />
<disable_collisions link1="LKnee" link2="neck" reason="Never" />
<disable_collisions link1="LKnee" link2="odroid" reason="Never" />
<disable_collisions link1="LKnee" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LShoulder" link2="LShoulderDummy" reason="Adjacent" />
<disable_collisions link1="LShoulder" link2="LeftCamera" reason="Never" />
<disable_collisions link1="LShoulder" link2="RElbowDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHip" reason="Never" />
<disable_collisions link1="LShoulder" link2="RHipDummy" reason="Never" />
@ -188,13 +184,14 @@
<disable_collisions link1="LShoulder" link2="RKnee" reason="Never" />
<disable_collisions link1="LShoulder" link2="RShoulder" reason="Never" />
<disable_collisions link1="LShoulder" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="LShoulder" link2="RightCamera" reason="Never" />
<disable_collisions link1="LShoulder" link2="gaze" reason="Default" />
<disable_collisions link1="LShoulder" link2="helmet" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_ankle" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_sole" reason="Never" />
<disable_collisions link1="LShoulder" link2="l_wrist" reason="Never" />
<disable_collisions link1="LShoulder" link2="neck" reason="Never" />
<disable_collisions link1="LShoulder" link2="odroid" reason="Never" />
<disable_collisions link1="LShoulder" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_ankle" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_sole" reason="Never" />
<disable_collisions link1="LShoulder" link2="r_wrist" reason="Never" />
@ -210,28 +207,15 @@
<disable_collisions link1="LShoulderDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="neck" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="odroid" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="r_sole" reason="Never" />
<disable_collisions link1="LShoulderDummy" link2="torso" reason="Default" />
<disable_collisions link1="LeftCamera" link2="RHip" reason="Never" />
<disable_collisions link1="LeftCamera" link2="RHipDummy" reason="Never" />
<disable_collisions link1="LeftCamera" link2="RHipYaw" reason="Never" />
<disable_collisions link1="LeftCamera" link2="RKnee" reason="Never" />
<disable_collisions link1="LeftCamera" link2="RShoulder" reason="Never" />
<disable_collisions link1="LeftCamera" link2="RightCamera" reason="Never" />
<disable_collisions link1="LeftCamera" link2="gaze" reason="Never" />
<disable_collisions link1="LeftCamera" link2="helmet" reason="Adjacent" />
<disable_collisions link1="LeftCamera" link2="l_ankle" reason="Never" />
<disable_collisions link1="LeftCamera" link2="l_sole" reason="Never" />
<disable_collisions link1="LeftCamera" link2="neck" reason="Never" />
<disable_collisions link1="LeftCamera" link2="r_ankle" reason="Never" />
<disable_collisions link1="LeftCamera" link2="r_sole" reason="Never" />
<disable_collisions link1="LeftCamera" link2="torso" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RElbowDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="neck" reason="Never" />
<disable_collisions link1="RElbowDummy" link2="r_wrist" reason="Adjacent" />
<disable_collisions link1="RHip" link2="RHipDummy" reason="Adjacent" />
@ -239,89 +223,98 @@
<disable_collisions link1="RHip" link2="RKnee" reason="Never" />
<disable_collisions link1="RHip" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHip" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHip" link2="RightCamera" reason="Never" />
<disable_collisions link1="RHip" link2="gaze" reason="Never" />
<disable_collisions link1="RHip" link2="helmet" reason="Never" />
<disable_collisions link1="RHip" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHip" link2="neck" reason="Never" />
<disable_collisions link1="RHip" link2="odroid" reason="Never" />
<disable_collisions link1="RHip" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RHip" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHip" link2="torso" reason="Never" />
<disable_collisions link1="RHipDummy" link2="RHipYaw" reason="Default" />
<disable_collisions link1="RHipDummy" link2="RKnee" reason="Adjacent" />
<disable_collisions link1="RHipDummy" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHipDummy" link2="RightCamera" reason="Never" />
<disable_collisions link1="RHipDummy" link2="gaze" reason="Never" />
<disable_collisions link1="RHipDummy" link2="helmet" reason="Never" />
<disable_collisions link1="RHipDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHipDummy" link2="neck" reason="Never" />
<disable_collisions link1="RHipDummy" link2="odroid" reason="Never" />
<disable_collisions link1="RHipDummy" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RHipDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RKnee" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RShoulder" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RShoulderDummy" reason="Never" />
<disable_collisions link1="RHipYaw" link2="RightCamera" reason="Never" />
<disable_collisions link1="RHipYaw" link2="gaze" reason="Never" />
<disable_collisions link1="RHipYaw" link2="helmet" reason="Never" />
<disable_collisions link1="RHipYaw" link2="l_ankle" reason="Never" />
<disable_collisions link1="RHipYaw" link2="neck" reason="Never" />
<disable_collisions link1="RHipYaw" link2="odroid" reason="Never" />
<disable_collisions link1="RHipYaw" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RHipYaw" link2="r_ankle" reason="Never" />
<disable_collisions link1="RHipYaw" link2="torso" reason="Adjacent" />
<disable_collisions link1="RKnee" link2="RShoulder" reason="Never" />
<disable_collisions link1="RKnee" link2="RightCamera" reason="Never" />
<disable_collisions link1="RKnee" link2="gaze" reason="Never" />
<disable_collisions link1="RKnee" link2="helmet" reason="Never" />
<disable_collisions link1="RKnee" link2="l_wrist" reason="Never" />
<disable_collisions link1="RKnee" link2="neck" reason="Never" />
<disable_collisions link1="RKnee" link2="odroid" reason="Never" />
<disable_collisions link1="RKnee" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RKnee" link2="r_ankle" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="RShoulderDummy" reason="Adjacent" />
<disable_collisions link1="RShoulder" link2="RightCamera" reason="Never" />
<disable_collisions link1="RShoulder" link2="helmet" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_ankle" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_sole" reason="Never" />
<disable_collisions link1="RShoulder" link2="l_wrist" reason="Never" />
<disable_collisions link1="RShoulder" link2="neck" reason="Never" />
<disable_collisions link1="RShoulder" link2="odroid" reason="Never" />
<disable_collisions link1="RShoulder" link2="odroid_bag" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_ankle" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_sole" reason="Never" />
<disable_collisions link1="RShoulder" link2="r_wrist" reason="Never" />
<disable_collisions link1="RShoulder" link2="torso" reason="Adjacent" />
<disable_collisions link1="RShoulderDummy" link2="l_ankle" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="l_sole" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="l_wrist" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="neck" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="r_ankle" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="odroid" reason="Never" />
<disable_collisions link1="RShoulderDummy" link2="r_wrist" reason="Never" />
<disable_collisions link1="RightCamera" link2="gaze" reason="Never" />
<disable_collisions link1="RightCamera" link2="helmet" reason="Adjacent" />
<disable_collisions link1="RightCamera" link2="l_ankle" reason="Never" />
<disable_collisions link1="RightCamera" link2="l_sole" reason="Never" />
<disable_collisions link1="RightCamera" link2="neck" reason="Never" />
<disable_collisions link1="RightCamera" link2="r_ankle" reason="Never" />
<disable_collisions link1="RightCamera" link2="r_sole" reason="Never" />
<disable_collisions link1="RightCamera" link2="torso" reason="Never" />
<disable_collisions link1="gaze" link2="helmet" reason="Adjacent" />
<disable_collisions link1="gaze" link2="l_ankle" reason="Never" />
<disable_collisions link1="gaze" link2="l_sole" reason="Never" />
<disable_collisions link1="gaze" link2="neck" reason="Adjacent" />
<disable_collisions link1="gaze" link2="odroid_bag" reason="Default" />
<disable_collisions link1="gaze" link2="r_ankle" reason="Never" />
<disable_collisions link1="gaze" link2="r_sole" reason="Never" />
<disable_collisions link1="gaze" link2="torso" reason="Default" />
<disable_collisions link1="helmet" link2="l_ankle" reason="Never" />
<disable_collisions link1="helmet" link2="l_sole" reason="Never" />
<disable_collisions link1="helmet" link2="neck" reason="Never" />
<disable_collisions link1="helmet" link2="odroid" reason="Never" />
<disable_collisions link1="helmet" link2="odroid_bag" reason="Never" />
<disable_collisions link1="helmet" link2="r_ankle" reason="Never" />
<disable_collisions link1="helmet" link2="r_sole" reason="Never" />
<disable_collisions link1="helmet" link2="torso" reason="Never" />
<disable_collisions link1="l_ankle" link2="l_sole" reason="Adjacent" />
<disable_collisions link1="l_ankle" link2="neck" reason="Never" />
<disable_collisions link1="l_ankle" link2="odroid" reason="Never" />
<disable_collisions link1="l_ankle" link2="odroid_bag" reason="Never" />
<disable_collisions link1="l_ankle" link2="r_wrist" reason="Never" />
<disable_collisions link1="l_sole" link2="neck" reason="Never" />
<disable_collisions link1="l_sole" link2="r_wrist" reason="Never" />
<disable_collisions link1="l_sole" link2="odroid" reason="Never" />
<disable_collisions link1="l_sole" link2="odroid_bag" reason="Never" />
<disable_collisions link1="l_wrist" link2="neck" reason="Never" />
<disable_collisions link1="l_wrist" link2="r_ankle" reason="Never" />
<disable_collisions link1="l_wrist" link2="r_sole" reason="Never" />
<disable_collisions link1="neck" link2="odroid" reason="Never" />
<disable_collisions link1="neck" link2="odroid_bag" reason="Never" />
<disable_collisions link1="neck" link2="r_ankle" reason="Never" />
<disable_collisions link1="neck" link2="r_sole" reason="Never" />
<disable_collisions link1="neck" link2="r_wrist" reason="Never" />
<disable_collisions link1="neck" link2="torso" reason="Adjacent" />
<disable_collisions link1="odroid" link2="odroid_bag" reason="Adjacent" />
<disable_collisions link1="odroid" link2="r_ankle" reason="Never" />
<disable_collisions link1="odroid" link2="r_sole" reason="Never" />
<disable_collisions link1="odroid" link2="torso" reason="Never" />
<disable_collisions link1="odroid_bag" link2="r_ankle" reason="Never" />
<disable_collisions link1="odroid_bag" link2="r_sole" reason="Never" />
<disable_collisions link1="odroid_bag" link2="torso" reason="Adjacent" />
<disable_collisions link1="r_ankle" link2="r_sole" reason="Adjacent" />
<disable_collisions link1="r_ankle" link2="torso" reason="Never" />
<disable_collisions link1="r_sole" link2="torso" reason="Never" />

75
nao_dcm_common/nao_dcm_description/urdf/modules/helmet_cameras.xacro
View File

@ -65,4 +65,79 @@
<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
</inertial>
</link>
<!-- GAZEBO RELATED PARAMETERS -->
<!-- DUMMY VALUES - CHANGE TO THE ONES YOUR CAMERAS HAVE -->
<gazebo reference="LeftCamera">
<sensor type="camera" name="LeftCamera">
<update_rate>30.0</update_rate>
<camera name="left_camera">
<horizontal_fov>1.06290551</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.3</near>
<far>500</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>nao_dcm/CameraLeft</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>LeftCamera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<gazebo reference="RightCamera">
<sensor type="camera" name="RightCamera">
<update_rate>30.0</update_rate>
<camera name="right_camera">
<horizontal_fov>1.06290551</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.3</near>
<far>500</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>nao_dcm/CameraRight</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>RightCamera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
</robot>