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jaiveersinghNVjaiveersinghNV
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Merge pull request #1 from NVIDIA-ISAAC-ROS/release-4.1
Isaac ROS 4.1
2 parents e898baf + 16f3317 commit 20946bf

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‎.gitattributes‎

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# Images
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*.gif filter=lfs diff=lfs merge=lfs -text
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*.jpg filter=lfs diff=lfs merge=lfs -text
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*.png filter=lfs diff=lfs merge=lfs -text
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*.psd filter=lfs diff=lfs merge=lfs -text
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# Archives
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*.gz filter=lfs diff=lfs merge=lfs -text
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*.tar filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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# Documents
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*.pdf filter=lfs diff=lfs merge=lfs -text
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# For meshes
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*.dae filter=lfs diff=lfs merge=lfs -text
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*.DAE filter=lfs diff=lfs merge=lfs -text
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*.stl filter=lfs diff=lfs merge=lfs -text
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*.STL filter=lfs diff=lfs merge=lfs -text

‎README.md‎

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# My Repository
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This is my new repository.
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# Sensor Mounting Rig
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## Overview
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Sensor Mounting Rig provides URDF and other files associated with hardware mounting of sensors onto the Jetson Developer Kits.
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Please see [the guide](https://nvidia-isaac-ros.github.io/robots/sensor_mounting_rig/index.html) for details.
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---
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## Latest
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Update 2026-02-02: Initial release

‎thor_devkit_realsense_rig_description/CMakeLists.txt‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.22.1)
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project(thor_devkit_realsense_rig_description LANGUAGES C CXX)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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# Embed versioning information into installed files
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ament_index_get_resource(ISAAC_ROS_COMMON_CMAKE_PATH isaac_ros_common_cmake_path isaac_ros_common)
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include("${ISAAC_ROS_COMMON_CMAKE_PATH}/isaac_ros_common-version-info.cmake")
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generate_version_info(${PROJECT_NAME})
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ament_auto_package(INSTALL_TO_SHARE meshes urdf launch)
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‎thor_devkit_realsense_rig_description/launch/thor_devkit_realsense_rig_description.launch.py‎

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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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import isaac_ros_launch_utils as lu
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from launch import LaunchDescription
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def generate_launch_description() -> LaunchDescription:
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args = lu.ArgumentContainer()
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args.add_arg('urdf_override_file', default='None', cli=True)
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args.add_arg('calibrated_urdf_file', default='None')
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args.add_arg('camera_model', default='d455',
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description='RealSense model for determining nominals calibration file',
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choices=['d435', 'd455'], cli=True)
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actions = args.get_launch_actions()
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nominals_file = lu.if_else_substitution(
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lu.is_equal(args.camera_model, 'd435'),
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'urdf/thor_devkit_realsense_rig_d435.urdf.xacro',
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'urdf/thor_devkit_realsense_rig_d455.urdf.xacro')
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actions.append(lu.log_info(f'Using nominals file: {nominals_file}'
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f'given camera model: {args.camera_model}'))
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actions.append(
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lu.add_robot_description(nominals_package='thor_devkit_realsense_rig_description',
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nominals_file=nominals_file,
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override_path=args.urdf_override_file,
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robot_calibration_path=args.calibrated_urdf_file))
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return LaunchDescription(actions)

‎thor_devkit_realsense_rig_description/meshes/thor_devkit_realsense_rig_frame.stl‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:fbbddb285414ede941711596e60be71e7834e6357f72acef9f5aebbc93b7a590
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size 81434

‎thor_devkit_realsense_rig_description/package.xml‎

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<?xml version="1.0"?>
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<!--
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SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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SPDX-License-Identifier: Apache-2.0
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-->
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>thor_devkit_realsense_rig_description</name>
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<version>4.1.0</version>
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<description>
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Jetson Thor developer kit RealSense mounting rig, URDF, mesh, and robot description launch file.
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</description>
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<maintainer email="isaac-ros-maintainers@nvidia.com">Isaac ROS Maintainers</maintainer>
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<license>Apache-2.0</license>
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<author>Aleksandr Efitorov</author>
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<author>Jeffrey Leong</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>isaac_ros_common</build_depend>
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<exec_depend>isaac_ros_launch_utils</exec_depend>
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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‎thor_devkit_realsense_rig_description/urdf/thor_devkit_realsense_rig_d435.urdf.xacro‎

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<?xml version="1.0"?>
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<!--
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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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-->
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<robot name="thor_devkit_realsense_rig_d435" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="robot_namespace" default="/"/>
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<xacro:property name="M_PI" value="3.1415926535897931"/>
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<!-- Mount pose of the Thor rig relative to base_link -->
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<link name="base_link"/>
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<joint name="base_to_thor_mount" type="fixed">
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<parent link="base_link"/>
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<child link="thor_mount_link"/>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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</joint>
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<link name="thor_mount_link"/>
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<!-- Camera indexing corresponds to front (camera0), left (camera1), right (camera2). -->
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<!-- Assume cameras are installed right-side up -->
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<joint name="camera0" type="fixed">
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<parent link="thor_mount_link"/>
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<child link="camera0_link"/>
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<origin xyz="0.0 0.025 0.019" rpy="0.0 0.0 0.0"/>
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</joint>
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<link name="camera0_link"/>
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<joint name="camera1" type="fixed">
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<parent link="thor_mount_link"/>
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<child link="camera1_link"/>
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<origin xyz="-0.100 0.0601 0.019" rpy="0.0 0.0 ${M_PI/2}"/>
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</joint>
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<link name="camera1_link"/>
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<joint name="camera2" type="fixed">
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<parent link="thor_mount_link"/>
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<child link="camera2_link"/>
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<origin xyz="-0.050 -0.0601 0.019" rpy="0.0 0.0 ${-M_PI/2}"/>
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</joint>
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<link name="camera2_link"/>
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</robot>

‎thor_devkit_realsense_rig_description/urdf/thor_devkit_realsense_rig_d455.urdf.xacro‎

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<?xml version="1.0"?>
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<!--
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# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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-->
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<robot name="thor_devkit_realsense_rig_d455" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="robot_namespace" default="/"/>
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<xacro:property name="M_PI" value="3.1415926535897931"/>
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<!-- Mount pose of the Thor rig relative to base_link -->
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<link name="base_link"/>
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<joint name="base_to_thor_mount" type="fixed">
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<parent link="base_link"/>
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<child link="thor_mount_link"/>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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</joint>
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<link name="thor_mount_link"/>
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<!-- Camera indexing corresponds to front (camera0), left (camera1), right (camera2). -->
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<!-- Assume cameras are installed right-side up -->
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<joint name="camera0" type="fixed">
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<parent link="thor_mount_link"/>
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<child link="camera0_link"/>
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<origin xyz="0.0 0.0475 0.019" rpy="0.0 0.0 0.0"/>
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</joint>
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<link name="camera0_link"/>
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<joint name="camera1" type="fixed">
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<parent link="thor_mount_link"/>
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<child link="camera1_link"/>
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<origin xyz="-0.1225 0.0601 0.019" rpy="0.0 0.0 ${M_PI/2}"/>
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</joint>
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<link name="camera1_link"/>
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<joint name="camera2" type="fixed">
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<parent link="thor_mount_link"/>
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<child link="camera2_link"/>
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<origin xyz="-0.0275 -0.0601 0.019" rpy="0.0 0.0 ${-M_PI/2}"/>
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</joint>
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<link name="camera2_link"/>
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</robot>

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