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sentry.urdf.xacro
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sentry.urdf.xacro
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<?xml version="1.0" encoding="utf-8"?>
<robot name="sentry"
xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="xyz" default="0.10 0 0.05" />
<xacro:arg name="rpy" default="0 0 0" />
<link name="livox_frame" />
<link name = "base_link" />
<joint name="base_joint" type="fixed">
<origin xyz="-0.105 0 -0.460" rpy="0 0 0" />
<parent link="livox_frame" />
<child link="base_link" />
<axis xyz= "0 0 0" />
</joint>
<!-- <link name="gimbal_imu" /> -->
<link name="gimbal_link" />
<joint name="gimbal_joint" type="floating">
<parent link="livox_frame" />
<child link="gimbal_link" />
</joint>
<link name="camera_link" />
<joint name="camera_joint" type="fixed">
<origin xyz="$(arg xyz)" rpy="$(arg rpy)" />
<parent link="gimbal_link" />
<child link="camera_link" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_optical_frame" />
<joint name="camera_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}" />
<parent link="camera_link" />
<child link="camera_optical_frame" />
</joint>
</robot>