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## AUTOGENERATED DON'T DELETE
## CategoryPackage
== Description ==
This package provides a description of the robot's kinematic chain containing all relevant frames as well as both static transformations and dynamic joints connecting frames among each other.

{{attachment:MILD_Degrees_Of_Freedom.png|height="590",width="335"|height="661",width="377"}}   {{attachment:MILD_Transformations.png|height="590",width="335"|height="659",width="365"}}

''Left: The robot's rotational and translational degrees of freedom. Right: Overview over the robot's most important frames and transformations.''

== Functionality ==
The mild's kinematic chain is described in '''robot_description/mild.urdf '''within this package. (See the [[http://wiki.ros.org/urdf/Tutorials|ros wiki]] for a detailed explanation of the urdf format)

The kinematic chain consists of two major parts: The robot's environment (map) as well as the robot's base and the camera-system including PTU, Guppy-Cameras (and Kinect as an optional component). The fixed reference Frame is in the PTU and is called '''/ptu_pan_link'''.

'''Map to Robot Base'''

 * /map - the origin of the map in which the robot is located
 * /odom - the robot's position in the map, located by the odometry
 * /base_link - the robot's base center point
 * /base_laser - the 2D-laserscanner's sensor frame

'''PTU Base to Camera'''

 * /ptu_base_link - the base frame of the pan-tilt-unit
 * /ptu_pan_link - the origin of the pan joint
 * /ptu_pan_link_rotated - the rotated part of the pan joint
 * /ptu_tilt_link - the origin of the tilt joint
 * /ptu_tilted_link - the rotated part of the tilt joint
 * /ptu_mount_link - the mounting frame for both cameras
 * /camera_left_frame - the left camera's origin
 * /camera_right_frame - the right camera's origin

{{attachment:Mild_Frames.png|height="1443",width="1000"|height="1578",width="1119"}}

== Usage ==
=== Needed packages ===
'''run depend: '''

 * [[asr_flir_ptu_driver]]: TF of real and simulated PTU.
 * [[asr_mild_base_driving]] / [[asr_mild_base_fake_driving]]: TF of the mild's base from real / simulated odometry

=== Needed hardware ===
For simulation nothing is needed. Additional hardware components:

 * Pan-Tilt-Unit (PTU)
 * MILD base plattform (See [[asr_mild_base_driving|here]] for detailed description)

=== Start system ===
The transformation publisher is usually not run directly from this package. Instead, use the launch files provided in [[asr_mild_navigation]].

The following launch file can be used to publish additional transformations needed for the use of a mounted kinect camera:

{{{
roslaunch asr_mild_kinematic_chain transformation_publishers_kinect_left.launch
}}}
== Tutorials ==
See [[asr_mild_navigation]] for tutorials on how to set up the full kinematic chain.