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tracker_default.urdf.xacro
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tracker_default.urdf.xacro
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<?xml version="1.0"?>
<robot name="taurob_tracker"
xmlns:xacro="http://ros.org/wiki/xacro">
<!--Required to quickly work around bug in collada_urdf (https://github.com/ros/robot_model/issues/132)-->
<xacro:property name="box_scale_factor" value="1.0" />
<xacro:include filename="$(find taurob_tracker_description)/urdf/tracker_chassis.urdf.xacro.xml" />
<xacro:tracker_chassis_macro />
<xacro:include filename="$(find taurob_tracker_description)/urdf/tracker_chassis_cameras.urdf.xacro.xml" />
<xacro:tracker_chassis_cameras_macro />
<!--Examples of adding additional robot parts below-->
<xacro:include filename="$(find taurob_arm_description)/urdf/taurob_arm_collision_geoms_simple.urdf.xacro.xml" />
<xacro:include filename="$(find taurob_arm_description)/urdf/taurob_arm_macros.urdf.xacro.xml" />
<xacro:taurob_arm_with_gripper_macro parent="base_link">
<origin xyz="0.12 0 0.24238" rpy="0 0 ${M_PI/2}"/>
</xacro:taurob_arm_with_gripper_macro >
<xacro:include filename="$(find hector_tracker_description)/urdf/tracker_sensor_head.urdf.xacro.xml" />
<xacro:tracker_sensor_head_macro />
<xacro:include filename="$(find hector_tracker_description)/urdf/tracker_stab_laser.urdf.xacro.xml" />
<xacro:tracker_stab_laser_macro />
<xacro:include filename="$(find hector_tracker_description)/urdf/tracker_structure_addons.urdf.xacro.xml" />
<xacro:tracker_structure_addons_macro />
<!--
<xacro:generic_camera name="left" parent="base_link" ros_topic="image_mono" cam_info_topic="camera_info" update_rate="10" res_x="640" res_y="480" image_format="L8" hfov="120">
<origin xyz="${-0.285-0.17} ${0.14+0.05} ${0.627-0.11}" rpy="0 0 2.35619"/>
</xacro:generic_camera>
<xacro:generic_camera name="right" parent="base_link" ros_topic="image_mono" cam_info_topic="camera_info" update_rate="10" res_x="640" res_y="480" image_format="L8" hfov="120">
<origin xyz="${-0.285-0.17} ${0.14-0.05} ${0.627-0.11}" rpy="0 0 -2.35619"/>
</xacro:generic_camera>
-->
<xacro:generic_camera name="arm_gripper_cam" parent="arm_link_4" ros_topic="image_raw" cam_info_topic="camera_info" update_rate="10" res_x="640" res_y="480" image_format="R8G8B8" hfov="80">
<origin xyz="0 0.0 0.0" rpy="0 0 0"/>
</xacro:generic_camera>
<!--
<xacro:include filename="$(find hector_components_description)/urdf/spinning_hokuyo_utm30lx.urdf.xacro" />
<spinning_hokuyo_utm30lx_lidar_mount_offset_macro parent="chassis_link" name="front" angle_deg="34">
<origin xyz="0.0 0 0.0" rpy="0 ${45 * M_PI/180.0} 0"/>
</spinning_hokuyo_utm30lx_lidar_mount_offset_macro >
-->
</robot>