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Add V2 gripper camera visuals and mounting reference frames - #100
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* Add the license header. * Change YAML files in a temporary share directory instead of replacing xacro's private load_yaml. * Check camera_view_frame against the camera parts in the visual mesh instead of copied configuration values. * Check grasp_frame emission for all combinations of the reference point's emit and the emit_grasp_frame argument. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Add test/run.sh that builds out of the source tree and runs only our pytest tests. ament_lint_common linters are excluded because we use pre-commit for lint. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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The V2 gripper model lacks the camera geometry and viewing reference from the CAD assembly. Add the B0495 camera visual to
ee_base_linkand a masslesscamera_view_frameto the full robot and standalone gripper.connection.originrelative to the selected mounting reference. Togglingemitchanges the frame output while preserving the mounted component's pose.Compatibility
connection.originwas an absolute override of the mounting reference's pose. It's now an offset relative to the mounting reference. All bundled presets useorigin: null, so their generated URDFs don't change except the newcamera_view_frame. Custom presets that setconnection.originwithparent_reference_pointneed to be updated.RViz comparison
Gripper base visual; colored axes show the new
camera_view_frame. Separate RViz captures use identical placement and camera settings.Validation: eight tests cover mirrored frames, standalone generation, folding, reference emission, grasp frame emission and mounting offsets, including the generated component and its composed world pose, and check
camera_view_frameagainst the camera parts in the visual mesh. CI runs them withtest/run.sh. All five V2 presets and both standalone grippers expand and passcheck_urdf; the updated DAE loads successfully.