Longer camera mount (#54)

* feat: new camera mount

* fix: fix azure kinect on meerkat

docker/azure-kinect/README.md

@@ -5,12 +5,12 @@ podman build -t azure-kinect:latest .
 
 The following command runs a container with this image without opening up the container network to the host network.
 ```bash
-podman run -it --volume="/dev/bus/usb:/dev/bus/usb" --rm azure-kinect:latest /bin/bash -c "Xvfb :1 -screen 0 2560x1440x16 & . /opt/ros/humble/setup.bash && . /root/ws/install/setup.sh && ros2 launch azure_kinect_ros_driver driver.launch.py" 
+podman run -it --volume="/dev/bus/usb:/dev/bus/usb" --rm --env DISPLAY=:2 azure-kinect:latest /bin/bash -c "Xvfb :1 -screen 0 2560x1440x16 & . /opt/ros/humble/setup.bash && . /root/ws/install/setup.sh && ros2 launch azure_kinect_ros_driver driver.launch.py" 
 ```
 
 The following command runs a container with this image using the host network as the container network.
 ```bash
-podman run -it --volume="/dev/bus/usb:/dev/bus/usb" --rm --network host --ipc=host --pid=host azure-kinect:latest /bin/bash -c "Xvfb :2 -screen 0 2560x1440x16 & . /opt/ros/humble/setup.bash && . /root/ws/install/setup.sh && ros2 launch azure_kinect_ros_driver driver.launch.py depth_mode:=NFOV_UNBINNED  point_cloud_in_depth_frame:=false"
+podman run -it --volume="/dev/bus/usb:/dev/bus/usb" --rm --network host --ipc=host --pid=host --env ROS_DOMAIN_ID=10 --env DISPLAY=:2 azure-kinect:latest /bin/bash -c "Xvfb :2 -screen 0 2560x1440x16 & . /opt/ros/humble/setup.bash && . /root/ws/install/setup.sh && ros2 launch azure_kinect_ros_driver driver.launch.py depth_mode:=NFOV_UNBINNED  point_cloud_in_depth_frame:=false"
 ```
 
 In the above, `depth_mode:=NFOV_UNBINNED` sets a narrow field of view for increased distance in depth perception and `point_cloud_in_depth_frame = false` to render the pointcloud onto the RBG image.

src/ur3e_hande_robot_description/config/camera_mount/physical_parameters.yaml

@@ -1,12 +1,12 @@
 inertia_parameters:
-  mount_base_mass: 0.1137
+  mount_base_mass: 0.0543
   camera_mass: 0.440
 
   links:
     mount_base:
       width: 0.0753
       length: 0.1127
-      height: 0.04
+      height: 0.077
 
     camera:
       width: 0.103

src/ur3e_hande_robot_description/urdf/camera_mount.xacro

@@ -94,7 +94,7 @@
   <joint name="camera_base_to_mount" type="fixed">
     <parent link="mount" />
     <child link="camera_base" />
-    <origin xyz="0. -0.09 0.0725" rpy="${pi/2} 0. 0." />
+    <origin xyz="0. -0.11 0.0725" rpy="${pi/2} 0. 0." />
   </joint> 
 
   <joint name="camera_base_to_camera_base_map" type="fixed">