Modified the URDF file to make it coincide with the real robot.

urdf/arm2.xacro

@@ -89,7 +89,7 @@
   </link>
 
   <joint name="roll" type="revolute">
-    <origin xyz="0.0675 0.0 -0.03" rpy="0 0 1.5707" />
+    <origin xyz="0.0675 0.0 -0.03" rpy="0 -1.5707 1.5707" />
     <parent link="pan_link" />
     <child link="roll_link" />
     <axis xyz="0 1 0" />
@@ -135,10 +135,10 @@
   </link>
 
   <joint name="tilt" type="revolute">
-    <origin xyz="0.001 -0.00171 -0.06189" rpy="0 1.5707 -1.5707" />
+    <origin xyz="0.001 0.0 -0.06" rpy="0 1.5707 -1.5707" />
     <parent link="roll_link" />
     <child link="tilt_link" />
-    <axis xyz="0 1 0" />
+    <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"/>