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[Discourse.ros.org] [robot description formats] Common location for sensor URDF files?

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[Discourse.ros.org] [robot description formats] Common location for sensor URDF files?

Procópio Stein via ros-users



For example, in [turtlebot_description](http://wiki.ros.org/turtlebot_description) there are [some sensors' xacro, mesh and all](https://github.com/turtlebot/turtlebot/tree/931d04516ee2257d21b68646b89a897b7650e70d/turtlebot_description) that are enough for ROS usecases (and for visualizing on Gazebo too). Failing to find so far a robot-agnostic location where I can get Kinect models, I've been reluctantly depending on `turtlebot_description` from my robot packages just to use those models.

Is there already a good to way to avoid bizarre dependency like above? Or if there isn't, what we can do to amend this?

I thought we may want to create a sensor description package, maybe somewhere close to its driver. For example for Kinect it may be like in [freenect_stack](https://github.com/ros-drivers/freenect_stack/) (need more discussion for the specific location of course).

Also available on Gazebo are some sensors' `SDF`s, which cannot reversibly be used in ROS AFAIK. So IMO this can't be an option.






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[Discourse.ros.org] [robot description formats] Common location for sensor URDF files?

Procópio Stein via ros-users



I agree with you we need more sensor description package.
There was a discussion on this on the SIG driver group : https://groups.google.com/forum/#!topic/ros-sig-drivers/UDEdIMiL0MU

Here is the conclusion that I like from Jack O'Quin
> For most devices, I think it makes sense to distribute the foo_description as a separate package in the same repository as the foo_driver.

> * They get released together, so they remain in sync with support for new models, etc.

> * Their dependencies remain separate.

> * They can be installed on different machines, useful if the driver can run on a small headless controller.

> Of course, some generic drivers, like camera1394 or usb_cam, have no idea what the actual device looks like. There are thousands of IIDC or USB camera models. I suppose they could provide a generic box with a lens, but what's the point? That could legitimately go somewhere else.

For example, there should be a new package named realsense_description in https://github.com/intel-ros/realsense






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[Discourse.ros.org] [robot description formats] Common location for sensor URDF files?

Procópio Stein via ros-users
In reply to this post by Procópio Stein via ros-users



For commonly-used sensors like the Kinect or SICK laser scanners, I wholeheartedly agree with having a description package I can install and use without needing to bring in an entire robot description.






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