From cc47945a220d49cb1f64f8b00e9e2ad5e4fa0647 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 9 Jun 2019 09:19:20 +0200
Subject: [PATCH] Added xtion to urdf

---
 urdf/{arm.urdf => arm.urdf.xacro} | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)
 rename urdf/{arm.urdf => arm.urdf.xacro} (95%)

diff --git a/urdf/arm.urdf b/urdf/arm.urdf.xacro
similarity index 95%
rename from urdf/arm.urdf
rename to urdf/arm.urdf.xacro
index 37a9b0c..f531de7 100644
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf.xacro
@@ -7,7 +7,9 @@ For IKFast:
 - Gripper base points to Z-Direction
 -->
 
-<robot name="arm">
+<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>
 
@@ -229,4 +231,8 @@ For IKFast:
 		<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>
-- 
2.39.5