turtlebot_sick_setup.xacro

<?xml version="1.0"?>
<!--
    - Base      : create
    - Stacks    : circles
    - 3d Sensor : kinect
-->    
<robot name="turtlebot" xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_library.urdf.xacro" />

  <create/>
  <!--<stack_circles parent="base_link"/>-->
  <!--<sensor_kinect  parent="base_link"/>-->
  
  <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
  <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
  <!--<xacro:include filename="$(find hector_sensors_description)/urdf/generic_camera.urdf.xacro" />-->
  <xacro:include filename="$(find hector_turtlebot_description)/urdf/camera.urdf.xacro" />
  
  <xacro:hokuyo_utm30lx name="hokuyo_laser" parent="base_link" ros_topic="hokuyo_scan" update_rate="40" ray_count="1040" min_angle="130" max_angle="-130">
    <origin xyz="0.0925 -0.004 0.198" rpy="0 0 0"/>
  </xacro:hokuyo_utm30lx>

  <xacro:asus_camera name="camera" parent="base_link">
    <origin xyz="-0.10 0.16  0.3" rpy="0 -0.30 1.65806278939"/>
  </xacro:asus_camera>
  
  <xacro:generic_camera name="forward_cam" parent="base_link">
    <origin xyz="0.1595 0.0 0.22" rpy="0 0 0"/>
  </xacro:generic_camera>

  <!--
  <xacro:generic_camera name="forward_cam" parent="base_link" ros_topic="image_raw" cam_info_topic="camera_info" update_rate="10" res_x="640" res_y="480" image_format="R8G8B8" hfov="60">
    <origin xyz="0.1595 0.0 0.22" rpy="0 0 0"/>
  </xacro:generic_camera>

  <xacro:asus_camera name="forward_cam" parent="base_link">
    <origin xyz="0.1595 0.0 0.22" rpy="0 0 0"/>
  </xacro:asus_camera>
  -->
</robot>