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- <?xml version="1.0"?>
- <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
- <!--
- <joint name="vertical_laser_joint" type="fixed" >
- <origin xyz="-0.18 0.0 0.173" rpy="0 ${-M_PI*0.5 + 0.0523598776} 0" />
- <parent link="base_link" />
- <child link="vertical_laser_frame" />
- </joint>
-
- <link name="vertical_laser_frame">
- <xacro:inertial_cuboid mass="0.1" x_length="0.1" y_length="0.1" z_length = "0.1"/>
- <visual>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <geometry>
- <box size="0.01 0.01 0.01" />
- </geometry>
- </visual>
- <collision>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <geometry>
- <box size="0.01 0.01 0.01" />
- </geometry>
- </collision>
- </link>
- -->
- <joint name="left_camera_joint" type="fixed">
- <origin xyz="-0.135 0.075 ${0.245 + 0.078 + 0.133}" rpy="0 -0.03524 2.35" />
- <parent link="base_link"/>
- <child link="left_camera_link"/>
- </joint>
-
- <link name="left_camera_link">
- <inertial>
- <mass value="0.001" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.03 0.08 0.06" />
- <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
- </geometry>
- <material name="Blue">
- <color rgba="0.0 0.0 0.8 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.03 0.08 0.06" />
- <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
- </geometry>
- </collision>
- </link>
-
-
- <joint name="left_camera_link_optical_joint" type="fixed">
- <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
- <parent link="left_camera_link" />
- <child link="left_camera_optical_frame"/>
- </joint>
-
- <link name="left_camera_optical_frame">
- <inertial>
- <mass value="0.01" />
- <origin xyz="0 0 0" />
- <inertia ixx="0.001" ixy="0.0" ixz="0.0"
- iyy="0.001" iyz="0.0"
- izz="0.001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </collision>
- </link>
-
- <joint name="right_camera_joint" type="fixed">
- <origin xyz="-0.135 -0.075 ${0.245 + 0.078 + 0.133}" rpy="0 -0.184 -2.48" />
- <parent link="base_link"/>
- <child link="right_camera_link"/>
- </joint>
-
- <link name="right_camera_link">
- <inertial>
- <mass value="0.001" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.03 0.08 0.06" />
- <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
- </geometry>
- <material name="Blue">
- <color rgba="0.0 0.0 0.8 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.03 0.08 0.06" />
- <!--<mesh filename="package://hector_components_description/meshes/vision_box/ps_eye_simple$(optenv TEST_SELF_FILTER).dae"/>-->
- </geometry>
- </collision>
- </link>
-
-
- <joint name="right_camera_link_optical_joint" type="fixed">
- <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
- <parent link="right_camera_link" />
- <child link="right_camera_optical_frame"/>
- </joint>
-
- <link name="right_camera_optical_frame">
- <inertial>
- <mass value="0.01" />
- <origin xyz="0 0 0" />
- <inertia ixx="0.001" ixy="0.0" ixz="0.0"
- iyy="0.001" iyz="0.0"
- izz="0.001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </collision>
- </link>
-
- </robot>
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