Added the URDF description file for the second version of the arm.

urdf/arm2.xacro

+<?xml version="1.0"?>
+
+<robot name="arm" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find arm_gazebo)/urdf/arm.gazebo" />
+  <xacro:include filename="$(find iri_uvc_camera_description)/urdf/uvc_camera.xacro" />
+
+  <xacro:arg name="robot_name" default="darwin"/>
+  <xacro:arg name="sim_config_path" default="$(find arm_description)/config"/>
+
+  <link name="base_footprint">
+  </link>
+
+  <joint name="base_footprint_to_base_link" type="fixed">
+    <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+    <parent link="base_footprint" />
+    <child link="base_link" />
+  </joint>
+
+  <link name="base_link">
+    <inertial>
+      <mass value="0.52508170" />
+      <origin xyz="0.00019318 0.00000000 0.16525697" />
+      <inertia ixx="0.00497362" ixy="0.00000000" ixz="0.00001665"
+               iyy="0.00497877" iyz="0.00000000" 
+               izz="0.00013887" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://arm_description/meshes/arm_base2.stl"/>
+      </geometry>
+      <material name="Grey">
+        <color rgba="0.4 0.4 0.4 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://arm_description/meshes/arm_base2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="pan" type="revolute">
+    <origin xyz="0.0133 0.0 0.34825" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="pan_link" />
+    <axis xyz="0 0 1" />
+    <anchor xyz="0 0 0" />
+    <limit lower="-1.5707" upper="1.5707" effort="1.5" velocity="10.0"/>
+    <dynamics damping="0.7"/>
+  </joint>
+
+  <transmission name="tran_pan">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="pan">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="pan_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <link name="pan_link">
+    <inertial>
+      <mass value="0.01883444" />
+      <origin xyz="0.03479693 0.00025021 -0.00035980" />
+      <inertia ixx="0.00000406" ixy="0.00000015" ixz="-0.00000173"
+               iyy="0.00002849" iyz="-0.00000001" 
+               izz="0.00003060" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://arm_description/meshes/pan2.stl"/>
+      </geometry>
+      <material name="Grey">
+        <color rgba="0.4 0.4 0.4 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://arm_description/meshes/pan2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="roll" type="revolute">
+    <origin xyz="0.0675 0.0 -0.03" rpy="0 0 1.5707" />
+    <parent link="pan_link" />
+    <child link="roll_link" />
+    <axis xyz="0 1 0" />
+    <anchor xyz="0 0 0" />
+    <limit lower="-1.5707" upper="1.5707" effort="1.5" velocity="10.0"/>
+    <dynamics damping="0.7"/>
+  </joint>
+
+  <transmission name="tran_roll">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="roll">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="roll_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <link name="roll_link">
+    <inertial>
+      <mass value="0.09213256" />
+      <origin xyz="-0.00487870 0.00002296 -0.02436388" />
+      <inertia ixx="0.00007323" ixy="-0.00000019" ixz="-0.00001312"
+               iyy="0.00008152" iyz="0.00000005" 
+               izz="0.00002526" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://arm_description/meshes/roll2.stl"/>
+      </geometry>
+      <material name="Grey">
+        <color rgba="0.4 0.4 0.4 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://arm_description/meshes/roll2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="tilt" type="revolute">
+    <origin xyz="0.001 -0.00171 -0.06189" rpy="0 1.5707 -1.5707" />
+    <parent link="roll_link" />
+    <child link="tilt_link" />
+    <axis xyz="0 1 0" />
+    <anchor xyz="0 0 0" />
+    <limit lower="-1.5707" upper="1.5707" effort="1.5" velocity="10.0"/>
+    <dynamics damping="0.7"/>
+  </joint>
+
+  <transmission name="tran_tilt">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="tilt">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="tilt_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
+  <link name="tilt_link">
+    <inertial>
+      <mass value="0.00495209" />
+      <origin xyz="0.01853248 0.00000000 -0.00216849" />
+      <inertia ixx="0.00000178" ixy="0.00000000" ixz="0.00000002"
+               iyy="0.00000073" iyz="0.00000000" 
+               izz="0.00000205" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://arm_description/meshes/tilt2.stl"/>
+      </geometry>
+      <material name="Grey">
+        <color rgba="0.4 0.4 0.4 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://arm_description/meshes/tilt2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <xacro:arm_gazebo robot_name="$(arg robot_name)"/>
+
+  <xacro:uvc_camera name="gopro" parent="tilt_link" resolution="low_res" model="gopro" sim_config="$(arg sim_config_path)/gopro_config.yaml">
+    <origin xyz="0.06254 -0.01525 -0.01404" rpy="3.14159 -0.78535 0" />
+  </xacro:uvc_camera>
+</robot>