Minor changes to urdfs.

LucidOne · Sep 21, 2012 · 85e9feb · 85e9feb
1 parent c4ce03e
commit 85e9feb
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/ihe_hardware/turtlebot_body/urdf/turtlebot_metric.urdf.xacro b/ihe_hardware/turtlebot_body/urdf/turtlebot_metric.urdf.xacro
@@ -2,4 +2,9 @@
 <robot name="turtlebot" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
   <include filename="$(find turtlebot_body)/urdf/turtlebot_metric.xacro"/>
   <turtlebot_body/>
+  <include filename="$(find urdf_compose)/urdf/kinect.xacro"/>
+  <include filename="$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro"/>
+  <turtlebot_standoff_kinect number="0" parent="plate_2_link" x_loc="-0.102438" y_loc="-0.098" z_loc="0.003201"/>
+  <turtlebot_standoff_kinect number="1" parent="plate_2_link" x_loc="-0.102438" y_loc="0.098" z_loc="0.003201"/>
+  <turtlebot_kinect cam_rp="0" cam_rr="0" cam_ry="0" cam_x="-0.0844382" cam_y="0" cam_z="0.10475" parent="plate_2_link"/>
 </robot>
diff --git a/ihe_hardware/turtlebot_xtion_top_description/urdf/turtlebot.xacro b/ihe_hardware/turtlebot_xtion_top_description/urdf/turtlebot.xacro
@@ -494,7 +494,7 @@
   <!-- left clip for xtion -->
 
   <joint name="base_xtion_left_clip_joint" type="fixed">
-    <origin xyz="0.017 -0.0745 0.00635" 
+    <origin xyz="-0.017 -0.0745 0.00635" 
             rpy="0.0 0.0 0.0" />
     <parent link="xtion_platform" />
     <child link="xtion_left_clip" />