magnet_v2_description

This package contains a URDF Xacro description of the Magnet V2, a mapping device consisting of a Hesai QT64/Pander XT32, a Microstrain GX5-AR, 3 E-con global shutter cameras and a Jetson Orin AGX Dev Kit.

This package requires the microstrain_inertial_description as well as xacro which can be installed with:

$ sudo apt-get install ros-$ROS_DISTRO-microstrain-inertial-description ros-$ROS_DISTRO-xacro

or alternatively automatically through rosdep:

$ rosdep install --from-paths src --ignore-src -r

For visualizing the URDF with RViz launch:

$ ros2 launch magnet_v2_description visualize.launch.py