For example, in turtlebot_description there are some sensors’ xacro, mesh and all 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 (need more discussion for the specific location of course).
Also available on Gazebo are some sensors’
SDFs, which cannot reversibly be used in ROS AFAIK. So IMO this can’t be an option.