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urdf: $(find turtlebot_xtion_top_description)/urdf/xtion.xacro
xtion:
image: $(find turtlebot_xtion_top_description)/images/xtion.png
description: >
The ASUS Xtion PRO LIVE uses infrared sensors, adaptive depth detection
technology, color image sensing and audio stream to capture a users'
real-time image, movement, and voice, making user tracking more precise.
<p>
http://www.asus.com/Multimedia/Motion_Sensor/Xtion_PRO_LIVE/
</p>
parent:
plate_3_link:
standard:
params:
parent: plate_3_link
x_loc: "-0.0892782"
y_loc: "0"
z_loc: "0.2032"
rr: "0"
rp: "0"
ry: "0"
requires:
$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro:
- turtlebot_standoff_8in:
parent: plate_3_link
number: "4"
x_loc: "-0.0892782"
y_loc: "-0.098"
z_loc: "-0.000125"
- turtlebot_standoff_8in:
parent: plate_3_link
number: "5"
x_loc: "-0.0892782"
y_loc: "0.098"
z_loc: "-0.000125"
standard facing backward:
params:
parent: plate_3_link
x_loc: "-0.0892782"
y_loc: "0"
z_loc: "0.2032"
rr: "0"
rp: "0"
ry: "3.1415927"
requires:
$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro:
- turtlebot_standoff_8in:
parent: plate_3_link
number: "4"
x_loc: "-0.0892782"
y_loc: "-0.098"
z_loc: "-0.000125"
- turtlebot_standoff_8in:
parent: plate_3_link
number: "5"
x_loc: "-0.0892782"
y_loc: "0.098"
z_loc: "-0.000125"
middle facing forward:
params:
parent: plate_3_link
x_loc: "0.01316"
y_loc: "0"
z_loc: "0.2032"
rr: "0"
rp: "0"
ry: "0"
requires:
$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro:
- turtlebot_standoff_8in:
parent: plate_3_link
number: "4"
x_loc: "0.01316"
y_loc: "-0.098"
z_loc: "-0.000125"
- turtlebot_standoff_8in:
parent: plate_3_link
number: "5"
x_loc: "0.01316"
y_loc: "0.098"
z_loc: "-0.000125"
middle facing backward:
params:
parent: plate_3_link
x_loc: "0.01316"
y_loc: "0"
z_loc: "0.2032"
rr: "0"
rp: "0"
ry: "3.1415927"
requires:
$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro:
- turtlebot_standoff_8in:
parent: plate_3_link
number: "4"
x_loc: "0.01316"
y_loc: "-0.098"
z_loc: "-0.000125"
- turtlebot_standoff_8in:
parent: plate_3_link
number: "5"
x_loc: "0.01316"
y_loc: "0.098"
z_loc: "-0.000125"
front facing forward:
params:
parent: plate_3_link
x_loc: "0.1264382"
y_loc: "0"
z_loc: "0.2032"
rr: "0"
rp: "0"
ry: "0"
requires:
$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro:
- turtlebot_standoff_8in:
parent: plate_3_link
number: "4"
x_loc: "0.1264382"
y_loc: "-0.098"
z_loc: "-0.000125"
- turtlebot_standoff_8in:
parent: plate_3_link
number: "5"
x_loc: "0.1264382"
y_loc: "0.098"
z_loc: "-0.000125"
front facing backward:
params:
parent: plate_3_link
x_loc: "0.1264382"
y_loc: "0"
z_loc: "0.2032"
rr: "0"
rp: "0"
ry: "3.1415927"
requires:
$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro:
- turtlebot_standoff_8in:
parent: plate_3_link
number: "4"
x_loc: "0.1264382"
y_loc: "-0.098"
z_loc: "-0.000125"
- turtlebot_standoff_8in:
parent: plate_3_link
number: "5"
x_loc: "0.1264382"
y_loc: "0.098"
z_loc: "-0.000125"
x45 standard:
params:
parent: plate_3_link
x_loc: "-0.0892782"
y_loc: "0"
z_loc: "0.237"
rr: "0"
rp: "0.7853982"
ry: "0"
requires:
$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro:
- turtlebot_standoff_8in:
parent: plate_3_link
number: "4"
x_loc: "-0.0892782"
y_loc: "-0.098"
z_loc: "-0.000125"
- turtlebot_standoff_8in:
parent: plate_3_link
number: "5"
x_loc: "-0.0892782"
y_loc: "0.098"
z_loc: "-0.000125"
$(find turtlebot_xtion_top_description)/urdf/xtion.xacro:
- xtion45_right_clip:
parent: standoff_8in_4_link
number: "0"
x_loc: "-0.0027"
y_loc: "-0.005555"
z_loc: "0.22655"
- xtion45_left_clip:
parent: standoff_8in_5_link
number: "0"
x_loc: "-0.0027"
y_loc: "0.005555"
z_loc: "0.22655"
plate_xtension:
standard:
params:
parent: plate_xtension_link
x_loc: "0"
y_loc: "0"
z_loc: "0.2032"
rr: "0"
rp: "0"
ry: "0"
requires:
$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro:
- turtlebot_standoff_8in:
parent: standoff_8in_4_link
number: "8"
x_loc: "0"
y_loc: "0"
z_loc: "0.2032"
- turtlebot_standoff_8in:
parent: standoff_8in_5_link
number: "9"
x_loc: "0"
y_loc: "0"
z_loc: "0.2032"
x45 standard:
params:
parent: plate_xtension_link
x_loc: "0"
y_loc: "0"
z_loc: "0.237"
rr: "0"
rp: "0.7853982"
ry: "0"
requires:
$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro:
- turtlebot_standoff_8in:
parent: standoff_8in_4_link
number: "8"
x_loc: "0"
y_loc: "0"
z_loc: "0.2032"
- turtlebot_standoff_8in:
parent: standoff_8in_5_link
number: "9"
x_loc: "0"
y_loc: "0"
z_loc: "0.2032"
$(find turtlebot_xtion_top_description)/urdf/xtion.xacro:
- xtion45_right_clip:
parent: standoff_8in_8_link
number: "0"
x_loc: "-0.0027"
y_loc: "-0.005555"
z_loc: "0.22655"
- xtion45_left_clip:
parent: standoff_8in_9_link
number: "0"
x_loc: "-0.0027"
y_loc: "0.005555"
z_loc: "0.22655"
plate_xtension:
image: $(find turtlebot_xtion_top_description)/images/xtension.png
description: >
An extension that provides your ASUS Xtion PRO LIVE with enough height
for your TurtleBot to see an attached arm.
parent:
plate_3_link:
standard:
params:
parent: plate_3_link
x_loc: "-0.0892782"
y_loc: "0"
z_loc: "0.2032"
requires:
$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro:
- turtlebot_standoff_8in:
parent: plate_3_link
number: "4"
x_loc: "-0.0892782"
y_loc: "-0.098"
z_loc: "-0.000125"
- turtlebot_standoff_8in:
parent: plate_3_link
number: "5"
x_loc: "-0.0892782"
y_loc: "0.098"
z_loc: "-0.000125"
- turtlebot_standoff_8in:
parent: standoff_8in_2_link
number: "6"
x_loc: "0"
y_loc: "0"
z_loc: "0.2032"
- turtlebot_standoff_8in:
parent: standoff_8in_3_link
number: "7"
x_loc: "0"
y_loc: "0"
z_loc: "0.2032"
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