From a60d9ec15ba1d3d92feaafa26da24d7d281f32dd Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 18 Jan 2020 18:22:04 +0100
Subject: [PATCH] added urdf with realsense and base

---
 urdf/open_manipulator.urdf.xacro              | 13 +++++++++++++
 urdf/wild_thumper_with_manipulator.urdf.xacro |  2 +-
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/urdf/open_manipulator.urdf.xacro b/urdf/open_manipulator.urdf.xacro
index f1a5529..956569c 100644
--- 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 3144258..2462a8c 100644
--- 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>
-- 
2.39.2