Add kinect-checkerboard capability

nextage_moveit_config/config/kinect_sensor.yaml

@@ -1,6 +1,6 @@
 sensors:
 - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
-point_cloud_topic: /camera/depth/points
+point_cloud_topic: /camera/depth_registered/points
 max_range: 5.0
 point_subsample: 1
 padding_offset: 0.1

nextage_moveit_config/launch/NextageOpen_moveit_sensor_manager.launch

@@ -1,43 +1,8 @@
 <launch>
-     <arg name="camera_link_pose" default="0.15 0.075 0.5 0.0 0.7854 0.0"/>
-     <arg name="kinect" default="false"/>
-     <group if="$(arg kinect)" >
-         <!-- launch openni to talk to kinect -->
-         <include file="$(find freenect_launch)/launch/freenect.launch">
-             <!-- These args are workarounds for tf_prefix issues in freenect.launch -->
-             <arg name="rgb_frame_id" value="camera_rgb_optical_frame"/>
-             <arg name="depth_frame_id" value="camera_depth_optical_frame"/>
-         </include>
-         <!-- Users update this to set transform between camera and robot -->
-         <node pkg="tf" type="static_transform_publisher" name="camera_link_broadcaster"
-               args="$(arg camera_link_pose) /torso /camera_link 100" />
 
-         <!-- octomap parameters for moveit -->
-         <group ns="move_group" >
-             <rosparam command="load" file="$(find nextage_moveit_config)/config/kinect_sensor.yaml" />
-			 <param name="octomap_frame" type="string" value="camera_link" />
-			 <param name="octomap_resolution" type="double" value="0.02" />
+  <rosparam command="load" file="$(find nextage_moveit_config)/config/kinect_sensor.yaml" />
+  <param name="octomap_frame" type="string" value="WAIST" />
+  <param name="octomap_resolution" type="double" value="0.04" />
+  <param name="max_range" type="double" value="5.0" />
 
-         </group>
-     </group>
-     <arg name="xtion" default="false"/>
-     <group if="$(arg xtion)" >
-         <!-- launch openni to talk to xtion -->
-         <include file="$(find openni_launch)/launch/openni.launch">
-             <!-- These args are workarounds for tf_prefix issues in openni.launch -->
-             <arg name="rgb_frame_id" value="camera_rgb_optical_frame" />
-             <arg name="depth_frame_id" value="camera_depth_optical_frame" />
-         </include>
-         <!-- Users update this to set transform between camera and robot -->
-         <!-- This example has the Xtion mounted to the chest of the robot -->
-         <node pkg="tf" type="static_transform_publisher" name="camera_link_broadcaster"
-               args="$(arg camera_link_pose) /torso /camera_link 100" />
-
-         <!-- octomap parameters for moveit -->
-         <group ns="move_group" >
-             <param name="octomap_frame" type="string" value="camera_link" />
-             <param name="octomap_resolution" type="double" value="0.02" />
-             <rosparam command="load" file="$(find nextage_moveit_config)/config/xtion_sensor.yaml" />
-         </group>
-     </group>
 </launch>

nextage_moveit_config/launch/move_group.launch

@@ -15,6 +15,8 @@
   <arg name="jiggle_fraction" default="0.05" />
   <arg name="publish_monitored_planning_scene" default="true"/>
 
+  <arg name="kinect" default="true" />
+
   <include ns="move_group" file="$(find nextage_moveit_config)/launch/planning_pipeline.launch">
     <arg name="pipeline" value="ompl" />
   </include>
@@ -26,6 +28,7 @@
 
   <include ns="move_group" file="$(find nextage_moveit_config)/launch/sensor_manager.launch" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_sensor_manager" value="NextageOpen" /> 
+    <arg name="kinect" value="$(arg kinect)" />
   </include>
 
   <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">