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Package Summary
This package provides information about the mild's kinematic chain and contains launch-files to publish the chain to a robot_state_publisher
- Maintainer: Meißner Pascal <asr-ros AT lists.kit DOT edu>
- Author: Aumann Florian, Marek Felix, Mayr Matthias, Meißner Pascal
- License: BSD
- Source: git https://github.com/asr-ros/asr_mild_kinematic_chain.git (branch: master)
Package Summary
This package provides information about the mild's kinematic chain and contains launch-files to publish the chain to a robot_state_publisher
- Maintainer: Meißner Pascal <asr-ros AT lists.kit DOT edu>
- Author: Aumann Florian, Marek Felix, Mayr Matthias, Meißner Pascal
- License: BSD
- Source: git https://github.com/asr-ros/asr_mild_kinematic_chain.git (branch: master)
Package Summary
This package provides information about the mild's kinematic chain and contains launch-files to publish the chain to a robot_state_publisher
- Maintainer: Meißner Pascal <asr-ros AT lists.kit DOT edu>
- Author: Aumann Florian, Marek Felix, Mayr Matthias, Meißner Pascal
- License: BSD
- Source: git https://github.com/asr-ros/asr_mild_kinematic_chain.git (branch: master)
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.
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 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
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 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.
