Add support for Cx-L and Bx

README.md

@@ -10,6 +10,7 @@ further information.
 
 ## Remarks
  * For using this package, you need to have the [Ensenso SDK](https://www.ensenso.com/support/sdk-download) installed.
+ * Ensenso B-Series cameras require at least version 2.1.3
  * Ensenso C-Series cameras require at least version 2.1.1
  * Ensenso S- and XR-Series cameras require at least version 1.7.0.
  * Version 1.7.0 and newer requires at least Ensenso SDK 3.0.

ensenso_description/ensenso.xacro

@@ -246,4 +246,56 @@
     <link name="${name}_left_lens_frame"/>
   </xacro:macro>
 
+  <xacro:macro name="ensenso_CxL_Series" params="name margin:=0.03">
+    <link name="${name}">
+      <visual>
+        <origin rpy="0 0 ${pi}" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://ensenso_description/stl_meshes/Cx-L.stl"/>
+        </geometry>
+        <material name="Ensenso/DarkGrey"/>
+      </visual>
+      <collision>
+        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 ${0.10/2}"/>
+        <geometry>
+          <box size="${margin+0.910} ${margin+0.06} ${margin+0.10+0.02}"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- Left lens -->
+    <joint name="${name}_left_lens_joint" type="fixed">
+      <parent link="${name}"/>
+      <child link="${name}_left_lens_frame"/>
+      <origin xyz="${-0.850/2} 0 0.032" rpy="0 0 0"/>
+    </joint>
+    <link name="${name}_left_lens_frame"/>
+  </xacro:macro>
+
+  <xacro:macro name="ensenso_Bx_Series" params="name margin:=0.03">
+    <link name="${name}">
+      <visual>
+        <origin rpy="0 0 ${pi}" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://ensenso_description/stl_meshes/Bx.stl"/>
+        </geometry>
+        <material name="Ensenso/DarkGrey"/>
+      </visual>
+      <collision>
+        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 ${(0.104+0.01)/2}"/>
+        <geometry>
+          <box size="${margin+0.120} ${margin+0.056} ${margin+0.104+0.02}"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- Left lens -->
+    <joint name="${name}_left_lens_joint" type="fixed">
+      <parent link="${name}"/>
+      <child link="${name}_left_lens_frame"/>
+      <origin xyz="${-0.075/2} 0 0.090" rpy="0 0 0"/>
+    </joint>
+    <link name="${name}_left_lens_frame"/>
+  </xacro:macro>
+
 </robot>

ensenso_description/ensenso_Bx_Series.xacro

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot name="ensenso_camera" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find ensenso_description)/ensenso.xacro" />
+
+  <!-- Parameters -->
+  <!-- Name of the camera -->
+  <xacro:arg name="camera" default="B57" />
+  <xacro:property name="camera_name" value="$(arg camera)" />
+
+  <!-- Enlarges the bounding box in all directions -->
+  <xacro:arg name="margin" default="0.03" />
+  <xacro:property name="margin" value="$(arg margin)" />
+
+  <!-- tf frame that references to the cameras mounting frame -->
+  <xacro:arg name="corresponding_frame_name" default="base_link" />
+  <xacro:property name="corresponding_frame_name" value="$(arg corresponding_frame_name)" />
+
+  <xacro:ensenso_Bx_Series name="${camera_name}" margin="${margin}"/>
+  <joint name="${corresponding_frame_name}_to_${camera_name}" type="fixed">
+    <parent link="${corresponding_frame_name}" />
+    <child link="${camera_name}" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+
+  <link name="${corresponding_frame_name}" />
+</robot>
+<!-- Example usage with:
+roslaunch urdf_tutorial display.launch model:=`rospack find ensenso_description`/ensenso_Bx_Series.xacro gui:=true
+-->

ensenso_description/ensenso_CxL_Series.xacro

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot name="ensenso_camera" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find ensenso_description)/ensenso.xacro" />
+
+  <!-- Parameters -->
+  <!-- Name of the camera -->
+  <xacro:arg name="camera" default="C57L" />
+  <xacro:property name="camera_name" value="$(arg camera)" />
+
+  <!-- Enlarges the bounding box in all directions -->
+  <xacro:arg name="margin" default="0.03" />
+  <xacro:property name="margin" value="$(arg margin)" />
+
+  <!-- tf frame that references to the cameras mounting frame -->
+  <xacro:arg name="corresponding_frame_name" default="base_link" />
+  <xacro:property name="corresponding_frame_name" value="$(arg corresponding_frame_name)" />
+
+  <xacro:ensenso_CxL_Series name="${camera_name}" margin="${margin}"/>
+  <joint name="${corresponding_frame_name}_to_${camera_name}" type="fixed">
+    <parent link="${corresponding_frame_name}" />
+    <child link="${camera_name}" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+
+  <link name="${corresponding_frame_name}" />
+</robot>
+<!-- Example usage with:
+roslaunch urdf_tutorial display.launch model:=`rospack find ensenso_description`/ensenso_CxL_Series.xacro gui:=true
+-->