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Can anyone assist me in integrating the Zed2 Camera with my robot's URDF? Additionally, I aim to generate a Moveit2 configuration for my robot after integrating the camera. Could you please review the URDF code below? I am facing an error when trying to set up Moveit2 for my robot


<!-- Add one ZED Camera -->
<xacro:arg name="camera_name"   default="zed" />
<xacro:arg name="camera_model"  default="zed" />

<xacro:include filename="$(find zed_wrapper)/urdf/zed_macro.urdf.xacro" />
  <xacro:zed_camera name="$(arg camera_name)" model="$(arg camera_model)">
  </xacro:zed_camera>
    <joint name="$(arg camera_name)_joint" type="fixed">
   <origin xyz="0.12 0.0 0.25" rpy="0 0 0"/>
   <parent link="panda_link0"/>
   <child link="$(arg camera_name)_camera_link"/>
 </joint>

</robot>
```
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  • $\begingroup$ I solved the Problem. I had forgotten to convert my Urdf to Xacro file. Now it works with Xacro file. $\endgroup$
    – Kedar
    Commented Mar 20 at 7:58

1 Answer 1

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Make sure the Urdf file is a Xacro file and then add the Camera to the Robot Xacro file

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  • $\begingroup$ Mark this as solved :) $\endgroup$
    – Nikolai
    Commented Mar 20 at 8:24
  • 2
    $\begingroup$ i tried, it telling me i can do it only tomorrow $\endgroup$
    – Kedar
    Commented Mar 20 at 8:27
  • $\begingroup$ @Nikolai - Yes, you have to wait 48 hours, when you answer your own question. Please see self answer $\endgroup$
    – Greenonline
    Commented Mar 20 at 8:40
  • $\begingroup$ have you integrated the Zed_2 Camera with Ros2 Humble Move-it2 on a Robot? $\endgroup$
    – Kedar
    Commented Mar 20 at 10:10

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