65 lines
2.3 KiB
XML
65 lines
2.3 KiB
XML
<robot>
|
|
<!-- This file is an example that can be included from jackal.urdf.xacro
|
|
by setting the JACKAL_URDF_EXTRAS environment variable to the full
|
|
path of this file. -->
|
|
|
|
<xacro:camera_mount prefix="front" tilt="0.5236"/>
|
|
<joint name="front_camera_mount_joint" type="fixed">
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<parent link="front_mount" />
|
|
<child link="front_camera_mount" />
|
|
</joint>
|
|
<xacro:BB2-08S2C-38 frame="front_camera" name="front" />
|
|
<joint name="front_camera_bracket_joint" type="fixed">
|
|
<origin xyz="0.007 0 0.02450" rpy="0 0 0" />
|
|
<parent link="front_camera_beam" />
|
|
<child link="front_camera" />
|
|
</joint>
|
|
|
|
<xacro:sick_lms1xx_mount prefix="front" topic="front/scan"/>
|
|
|
|
<joint name="front_laser_mount_joint" type="fixed">
|
|
<origin xyz="0 0 0.002" rpy="0 0 0" />
|
|
<parent link="front_mount" />
|
|
<child link="front_laser_mount" />
|
|
</joint>
|
|
|
|
<xacro:camera_mount prefix="rear" tilt="0.5236"/>
|
|
<joint name="rear_camera_mount_joint" type="fixed">
|
|
<origin xyz="0 0 0" rpy="0 0 3.141" />
|
|
<parent link="rear_mount" />
|
|
<child link="rear_camera_mount" />
|
|
</joint>
|
|
<xacro:BB2-08S2C-38 frame="rear_camera" name="rear" />
|
|
<joint name="rear_camera_bracket_joint" type="fixed">
|
|
<origin xyz="0.007 0 0.02450" rpy="0 0 0" />
|
|
<parent link="rear_camera_beam" />
|
|
<child link="rear_camera" />
|
|
</joint>
|
|
|
|
<xacro:sick_lms1xx_mount prefix="rear" topic="rear/scan"/>
|
|
|
|
<joint name="rear_laser_mount_joint" type="fixed">
|
|
<origin xyz="0 0 0.002" rpy="0 0 3.141" />>
|
|
<parent link="rear_mount" />
|
|
<child link="rear_laser_mount" />
|
|
</joint>
|
|
|
|
<xacro:bridge_plate mount="rear" height="0.20" />
|
|
<xacro:camera_mount prefix="rear_upper" tilt="0"/>
|
|
<joint name="rear_upper_camera_mount_joint" type="fixed">
|
|
<origin xyz="0 0 0.001" rpy="0 0 0" />
|
|
<parent link="rear_bridge" />
|
|
<child link="rear_upper_camera_mount" />
|
|
</joint>
|
|
|
|
<xacro:pointgrey_flea3 frame="rear_upper_camera" name="rear_upper"
|
|
camera_x="0.0754" camera_y="0.029" camera_z="0.035"
|
|
camera_mass="0.085" hfov="1.0471975512" fps="60" width="640" height="512"/>
|
|
<joint name="rear_upper_camera_bracket_joint" type="fixed">
|
|
<origin xyz="0.020 0 0.0245" rpy="0 0 0" />
|
|
<parent link="rear_upper_camera_beam" />
|
|
<child link="rear_upper_camera" />
|
|
</joint>
|
|
</robot>
|