Added xtion to urdf

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
deleted file mode 100644 (file)
index 37a9b0c..0000000
--- a/urdf/arm.urdf
+++ /dev/null
@@ -1,232 +0,0 @@
-<?xml version="1.0"?>
-
-<!--
-For IKFast:
-- All rotation about Z-Axis
-- Gripper base at offset from last link
-- Gripper base points to Z-Direction
--->
-
-<robot name="arm">
-       <link name="base_link">
-       </link>
-
-       <link name="plate">
-               <visual>
-                       <geometry>
-                               <mesh filename="package://arm_ros_conn/meshes/32985.stl"/>
-                       </geometry>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="arm_base">
-       </link>
-
-       <link name="link1">
-               <visual>
-                       <geometry>
-                               <mesh filename="package://arm_ros_conn/meshes/link1.stl"/>
-                       </geometry>
-                       <origin xyz="0 0 0.0615"/>
-                       <material name="grey">
-                               <color rgba="0.5 0.5 0.5 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="link2">
-               <visual>
-                       <geometry>
-                               <mesh filename="package://arm_ros_conn/meshes/link2.stl"/>
-                       </geometry>
-                       <origin xyz="0.120 0 0" rpy="1.5708 0 1.5708"/>
-                       <material name="grey">
-                               <color rgba="0.5 0.5 0.5 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="link3">
-               <visual>
-                       <geometry>
-                               <mesh filename="package://arm_ros_conn/meshes/link3.stl"/>
-                       </geometry>
-                       <origin xyz="0 0.0675 0" rpy="1.5708 0 0"/>
-                       <material name="grey">
-                               <color rgba="0.5 0.5 0.5 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="link4">
-               <visual>
-                       <geometry>
-                               <mesh filename="package://arm_ros_conn/meshes/link4.stl"/>
-                       </geometry>
-                       <origin xyz="0 0 0.015" rpy="0 0 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="link5">
-               <visual>
-                       <geometry>
-                               <mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
-                       </geometry>
-                       <origin xyz="0.0 0 0" rpy="0 0 0"/>
-                       <material name="red">
-                               <color rgba="1 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="gripper_pole">
-       </link>
-
-       <link name="gripper_center">
-       </link>
-
-       <link name="left_gripper">
-               <visual>
-                       <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
-                       <geometry>
-                               <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
-                       </geometry>
-                       <material name="red">
-                               <color rgba="1 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="right_gripper">
-               <visual>
-                       <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
-                       <geometry>
-                               <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
-                       </geometry>
-                       <material name="red">
-                               <color rgba="1 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="link2_motor_extension">
-               <visual>
-                       <geometry>
-                               <box size="0.015 0.015 0.10"/>
-                       </geometry>
-                       <origin xyz="0 0 0.05" rpy="0 0 0"/>
-                       <material name="grey">
-                               <color rgba="0.5 0.5 0.5 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="plate_box">
-               <visual>
-                       <geometry>
-                               <box size="0.08 0.185 0.035"/>
-                       </geometry>
-                       <origin xyz="0 0 0.0175" rpy="0 0 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <joint name="plate_joint" type="fixed">
-               <parent link="base_link"/>
-               <child link="plate"/>
-               <origin xyz="0 0 0.00375"/>
-       </joint>
-
-       <joint name="arm_base_joint" type="fixed">
-               <parent link="plate"/>
-               <child link="arm_base"/>
-               <origin xyz="0 0.099 0"/>
-       </joint>
-
-       <joint name="link1_joint" type="revolute">
-               <parent link="arm_base"/>
-               <child link="link1"/>
-               <axis xyz="0 0 -1"/>
-               <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
-       </joint>
-
-       <joint name="link2_joint" type="revolute">
-               <parent link="link1"/>
-               <child link="link2"/>
-               <axis xyz="0 0 1"/>
-               <origin xyz="0.0 0.0 0.123" rpy="1.5708 0 0"/>
-               <limit effort="1.0" lower="0.1505" upper="3.611" velocity="0.1"/>
-       </joint>
-
-       <joint name="link3_joint" type="revolute">
-               <parent link="link2"/>
-               <child link="link3"/>
-               <axis xyz="0 0 -1"/>
-               <origin xyz="0.240 0 0" rpy="0 0 0"/>
-               <limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/>
-       </joint>
-
-       <joint name="link4_joint" type="revolute">
-               <parent link="link3"/>
-               <child link="link4"/>
-               <axis xyz="0 0 -1"/>
-               <origin xyz="0 0.135 0" rpy="-1.5708 0 0"/>
-               <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/>
-       </joint>
-
-       <joint name="link5_joint" type="revolute">
-               <parent link="link4"/>
-               <child link="link5"/>
-               <axis xyz="0 0 1"/>
-               <origin xyz="0 0 0.06" rpy="1.5708 0 0"/>
-               <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
-       </joint>
-
-       <joint name="gripper_pole_joint" type="fixed">
-               <parent link="link5"/>
-               <child link="gripper_pole"/>
-               <origin xyz="0 0.02275 0" rpy="1.5708 0 1.5708"/>
-       </joint>
-
-       <joint name="gripper_center_joint" type="fixed">
-               <parent link="gripper_pole"/>
-               <child link="gripper_center"/>
-               <origin xyz="0.08 0 0" rpy="0 0 0"/>
-       </joint>
-
-       <joint name="left_gripper_joint" type="revolute">
-               <parent link="gripper_pole"/>
-               <child link="left_gripper"/>
-               <axis xyz="0 0 1"/>
-               <origin xyz="0 0.015 0" rpy="0 0 0"/>
-               <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
-       </joint>
-
-       <joint name="right_gripper_joint" type="revolute">
-               <parent link="gripper_pole"/>
-               <child link="right_gripper"/>
-               <axis xyz="0 0 1"/>
-               <origin xyz="0 -0.015 0" rpy="3.1416 0 0"/>
-               <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
-       </joint>
-
-       <joint name="link2_motor_extension_joint" type="fixed">
-               <parent link="link2"/>
-               <child link="link2_motor_extension"/>
-               <origin xyz="0.165 -0.03 0" rpy="1.5708 0 0"/>
-       </joint>
-
-       <joint name="plate_box_joint" type="fixed">
-               <parent link="plate"/>
-               <child link="plate_box"/>
-               <origin xyz="-0.04 -0.035 0" rpy="0 0 0"/>
-       </joint>
-</robot>

diff --git a/urdf/arm.urdf.xacro b/urdf/arm.urdf.xacro
new file mode 100644 (file)
index 0000000..f531de7
--- /dev/null
+++ b/urdf/arm.urdf.xacro
@@ -0,0 +1,238 @@
+<?xml version="1.0"?>
+
+<!--
+For IKFast:
+- All rotation about Z-Axis
+- Gripper base at offset from last link
+- Gripper base points to Z-Direction
+-->
+
+<robot name="arm" xmlns:xacro="http://ros.org/wiki/xacro">
+       <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
+
+       <link name="base_link">
+       </link>
+
+       <link name="plate">
+               <visual>
+                       <geometry>
+                               <mesh filename="package://arm_ros_conn/meshes/32985.stl"/>
+                       </geometry>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="arm_base">
+       </link>
+
+       <link name="link1">
+               <visual>
+                       <geometry>
+                               <mesh filename="package://arm_ros_conn/meshes/link1.stl"/>
+                       </geometry>
+                       <origin xyz="0 0 0.0615"/>
+                       <material name="grey">
+                               <color rgba="0.5 0.5 0.5 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="link2">
+               <visual>
+                       <geometry>
+                               <mesh filename="package://arm_ros_conn/meshes/link2.stl"/>
+                       </geometry>
+                       <origin xyz="0.120 0 0" rpy="1.5708 0 1.5708"/>
+                       <material name="grey">
+                               <color rgba="0.5 0.5 0.5 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="link3">
+               <visual>
+                       <geometry>
+                               <mesh filename="package://arm_ros_conn/meshes/link3.stl"/>
+                       </geometry>
+                       <origin xyz="0 0.0675 0" rpy="1.5708 0 0"/>
+                       <material name="grey">
+                               <color rgba="0.5 0.5 0.5 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="link4">
+               <visual>
+                       <geometry>
+                               <mesh filename="package://arm_ros_conn/meshes/link4.stl"/>
+                       </geometry>
+                       <origin xyz="0 0 0.015" rpy="0 0 0"/>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="link5">
+               <visual>
+                       <geometry>
+                               <mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
+                       </geometry>
+                       <origin xyz="0.0 0 0" rpy="0 0 0"/>
+                       <material name="red">
+                               <color rgba="1 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="gripper_pole">
+       </link>
+
+       <link name="gripper_center">
+       </link>
+
+       <link name="left_gripper">
+               <visual>
+                       <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
+                       <geometry>
+                               <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
+                       </geometry>
+                       <material name="red">
+                               <color rgba="1 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="right_gripper">
+               <visual>
+                       <origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
+                       <geometry>
+                               <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
+                       </geometry>
+                       <material name="red">
+                               <color rgba="1 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="link2_motor_extension">
+               <visual>
+                       <geometry>
+                               <box size="0.015 0.015 0.10"/>
+                       </geometry>
+                       <origin xyz="0 0 0.05" rpy="0 0 0"/>
+                       <material name="grey">
+                               <color rgba="0.5 0.5 0.5 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="plate_box">
+               <visual>
+                       <geometry>
+                               <box size="0.08 0.185 0.035"/>
+                       </geometry>
+                       <origin xyz="0 0 0.0175" rpy="0 0 0"/>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
+
+       <joint name="plate_joint" type="fixed">
+               <parent link="base_link"/>
+               <child link="plate"/>
+               <origin xyz="0 0 0.00375"/>
+       </joint>
+
+       <joint name="arm_base_joint" type="fixed">
+               <parent link="plate"/>
+               <child link="arm_base"/>
+               <origin xyz="0 0.099 0"/>
+       </joint>
+
+       <joint name="link1_joint" type="revolute">
+               <parent link="arm_base"/>
+               <child link="link1"/>
+               <axis xyz="0 0 -1"/>
+               <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
+       </joint>
+
+       <joint name="link2_joint" type="revolute">
+               <parent link="link1"/>
+               <child link="link2"/>
+               <axis xyz="0 0 1"/>
+               <origin xyz="0.0 0.0 0.123" rpy="1.5708 0 0"/>
+               <limit effort="1.0" lower="0.1505" upper="3.611" velocity="0.1"/>
+       </joint>
+
+       <joint name="link3_joint" type="revolute">
+               <parent link="link2"/>
+               <child link="link3"/>
+               <axis xyz="0 0 -1"/>
+               <origin xyz="0.240 0 0" rpy="0 0 0"/>
+               <limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/>
+       </joint>
+
+       <joint name="link4_joint" type="revolute">
+               <parent link="link3"/>
+               <child link="link4"/>
+               <axis xyz="0 0 -1"/>
+               <origin xyz="0 0.135 0" rpy="-1.5708 0 0"/>
+               <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/>
+       </joint>
+
+       <joint name="link5_joint" type="revolute">
+               <parent link="link4"/>
+               <child link="link5"/>
+               <axis xyz="0 0 1"/>
+               <origin xyz="0 0 0.06" rpy="1.5708 0 0"/>
+               <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
+       </joint>
+
+       <joint name="gripper_pole_joint" type="fixed">
+               <parent link="link5"/>
+               <child link="gripper_pole"/>
+               <origin xyz="0 0.02275 0" rpy="1.5708 0 1.5708"/>
+       </joint>
+
+       <joint name="gripper_center_joint" type="fixed">
+               <parent link="gripper_pole"/>
+               <child link="gripper_center"/>
+               <origin xyz="0.08 0 0" rpy="0 0 0"/>
+       </joint>
+
+       <joint name="left_gripper_joint" type="revolute">
+               <parent link="gripper_pole"/>
+               <child link="left_gripper"/>
+               <axis xyz="0 0 1"/>
+               <origin xyz="0 0.015 0" rpy="0 0 0"/>
+               <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
+       </joint>
+
+       <joint name="right_gripper_joint" type="revolute">
+               <parent link="gripper_pole"/>
+               <child link="right_gripper"/>
+               <axis xyz="0 0 1"/>
+               <origin xyz="0 -0.015 0" rpy="3.1416 0 0"/>
+               <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
+       </joint>
+
+       <joint name="link2_motor_extension_joint" type="fixed">
+               <parent link="link2"/>
+               <child link="link2_motor_extension"/>
+               <origin xyz="0.165 -0.03 0" rpy="1.5708 0 0"/>
+       </joint>
+
+       <joint name="plate_box_joint" type="fixed">
+               <parent link="plate"/>
+               <child link="plate_box"/>
+               <origin xyz="-0.04 -0.035 0" rpy="0 0 0"/>
+       </joint>
+
+       <xacro:asus_camera name="camera" parent="link2">
+               <origin xyz="0.18 -0.03 -0.05" rpy="0 3.1416 -1.5708"/>
+       </xacro:asus_camera>
+</robot>