forked from Hshine/RM_Vison
45 lines
1.0 KiB
XML
45 lines
1.0 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<robot name="rm_gimbal"
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xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:arg name="xyz" default="0.10 0 0.05" />
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<xacro:arg name="rpy" default="0 0 0" />
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<link name="odom" />
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<link name="yaw_link" />
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<joint name="yaw_joint" type="continuous">
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<parent link="odom" />
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<child link="yaw_link" />
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<axis xyz="0 0 1" />
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</joint>
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<link name="pitch_link" />
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<joint name="pitch_joint" type="continuous">
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<parent link="yaw_link" />
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<child link="pitch_link" />
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<axis xyz="0 1 0" />
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</joint>
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<link name="camera_link" />
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<joint name="camera_joint" type="fixed">
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<origin xyz="$(arg xyz)" rpy="$(arg rpy)" />
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<parent link="pitch_link" />
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<child link="camera_link" />
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<axis xyz="0 0 0" />
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</joint>
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<link name="camera_optical_frame" />
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<joint name="camera_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}" />
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<parent link="camera_link" />
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<child link="camera_optical_frame" />
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</joint>
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</robot>
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