urdf/wild_thumper.urdf.xacro

   1 <?xml version="1.0"?>
   2 <robot name="r2" xmlns:xacro="http://ros.org/wiki/xacro">
   3         <xacro:property name="PI" value="3.1415926535897931" />
   4         <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
   5
   6         <link name="base_link">
   7                 <visual>
   8                         <origin xyz="0.02 0.165 0.2" rpy="${PI} 0 0"/>
   9                         <geometry>
  10                                 <mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
  11                         </geometry>
  12                 </visual>
  13         </link>
  14
  15         <xacro:asus_camera name="camera" parent="base_link">
  16                 <origin xyz="0 0.19 0.15" rpy="0 0 ${PI/2}"/>
  17         </xacro:asus_camera>
  18 </robot>