added urdf with realsense and base

diff --git a/urdf/open_manipulator.urdf.xacro b/urdf/open_manipulator.urdf.xacro
index f1a5529d28f818c3077a20a4ff85f60c99dd09dc..956569c98b7036dfbcb96e7e9da974f960a1d97c 100644 (file)
--- a/urdf/open_manipulator.urdf.xacro
+++ b/urdf/open_manipulator.urdf.xacro
@@ -6,6 +6,7 @@
        <xacro:include filename="$(find open_manipulator_description)/urdf/open_manipulator.gazebo.xacro" />
        <!-- Import Rviz colors -->
        <xacro:include filename="$(find open_manipulator_description)/urdf/materials.xacro" />
+       <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
 
        <!-- Transmission macro -->
        <xacro:macro name="SimpleTransmission" params="joint n">
@@ -21,6 +22,15 @@
                </transmission>
        </xacro:macro>
 
+       <link name="open_manipulator_base">
+       </link>
+
+       <joint name="world_fixed" type="fixed">
+               <origin xyz="0 0 0" rpy="0 0 0"/>
+               <parent link="open_manipulator_base"/>
+               <child link="link1"/>
+       </joint>
+
        <!-- Link 1 -->
        <link name="link1">
                <visual>
@@ -356,4 +366,7 @@
          </inertial>
   </link>
 
+       <sensor_d435 parent="gripper_link">
+               <origin xyz="-0.02 -0.018 0.055" rpy="0 0 0"/>
+       </sensor_d435>
 </robot>

diff --git a/urdf/wild_thumper_with_manipulator.urdf.xacro b/urdf/wild_thumper_with_manipulator.urdf.xacro
index 31442584f61e7ee56152fecabe07f447e4fa625d..2462a8c0431ff6d48f1ec6afa5fb730a18a32a64 100644 (file)
--- a/urdf/wild_thumper_with_manipulator.urdf.xacro
+++ b/urdf/wild_thumper_with_manipulator.urdf.xacro
@@ -6,7 +6,7 @@
 
        <joint name="open_manipulator_joint" type="fixed">
                <parent link="mounting_plate"/>
-               <child link="link1"/>
+               <child link="open_manipulator_base"/>
                <origin xyz="-0.075 0.0 0.045" rpy="0 0 ${PI}"/>
        </joint>
 </robot>