quadrotor_with_hokyo30lx_and_downward_cam.urdf.xacro

<?xml version="1.0"?>

<robot name="quadrotor" xmlns:xacro="http://ros.org/wiki/xacro">

    <!-- Included URDF Files -->
    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_base.urdf.xacro" />
    <xacro:include filename="$(find hector_quadrotor_gazebo)/urdf/quadrotor_plugins.gazebo.xacro" />

    <!-- Instantiate quadrotor_base_macro once (has no parameters atm) -->
    <xacro:quadrotor_base_macro />

    <xacro:property name="M_PI" value="3.1415926535897931" />
    <!-- Custom sensors settings -->
    
    <!-- Hokuyo UTM-30LX mounted upside down below the quadrotor body -->
    <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
    <xacro:hokuyo_utm30lx name="laser0" parent="base_link" ros_topic="scan" update_rate="40" 
			  ray_count="1081" min_angle="-135" max_angle="135">
      <origin xyz="0.0 0.0 -0.097" rpy="${M_PI} 0 0"/>
    </xacro:hokuyo_utm30lx>

    <!-- Downward facing camera -->
    <xacro:include filename="$(find hector_sensors_description)/urdf/generic_camera.urdf.xacro" />
    <xacro:generic_camera name="downward_cam" parent="base_link" ros_topic="camera/image" cam_info_topic="camera/camera_info" 
			  update_rate="20" res_x="640" res_y="480" image_format="L8" hfov="100">
      <origin xyz="0.4 0.0 -0.0" rpy="0 ${M_PI/2} 0"/>
    </xacro:generic_camera>
    
    <!-- side facing camera -->
    <xacro:generic_camera name="side_cam" parent="base_link" ros_topic="camera/image" cam_info_topic="camera/camera_info" 
			  update_rate="20" res_x="640" res_y="480" image_format="L8" hfov="100">
      <origin xyz="-0.4 0.0 -0.0" rpy="${M_PI} ${M_PI} 0"/>
    </xacro:generic_camera>

</robot>