Realsense D455 and Orin Nano DevKit - mobile robot

Hi,

I want to build a mobile robot using Orin Nano DevKit and Realsense D455 depth camera. I’m a bit confused about the transforms. I want to rotate the camera on the robot around the Y axis of the camera but I’m not sure whether the main mounting screw 1/4" is the origin for this rotation. I’ll design a fixture to position the camera to right point in the x axis. So, would you advice about the best rotation point around y (I need to know the distance in x and z from 1/4" mounting crew) axis assuming that Y axis is up and down, x axis determines the distance of all camera optical sensors from each other, and z axis depth measured with the camera.

thanks!

Hi Pointer welcome here :-)

Can you please specify which type of demo or file you are referring to?

If you are speaking about the URDF, you can simple build a middle joint to combine the realsense camera and your robot, something like:

  <joint name="middle_joint" type="fixed">
    <origin rpy="0 0 1.5708" xyz="0 0 0" />
    <parent link="base_link" />
    <child link="realsense_link" />
    <axis xyz="0 0 1" />
  </joint>

where base_link is the base link of your robot and realsene_link is a realsense link on your urdf.

Let me know, if I helped you :-)

Raffaello