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Description

This ROS package contains physical descriptions of a Dynamixel pan&tilt device.

The following files are provided by this package:

  • Xacro macro to be included in higher level urdf or xacro files.

  • An example xacro file to be used as an example of use of the macro.

Dependencies

This node has the following dependencies:

Installation

  • Move to workspace: roscd && cd ../src
  • Clone the repository: git clone https://gitlab.iri.upc.edu/labrobotica/ros/devices/ptu_d46/iri_dynamixel_pan_tilt_description.git
  • Compile: roscd && cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release

How to use it

The ax12_pan_tilt_example.xacro file shows an example of how to include the xacro macro in another xacro file.

The xacro macro has the following parameters:

  • prefix: name of the device used to specify the frames and joints to allow multiples instances.

  • parent: name of the parent frame of the IMU sensor.

  • pan_joint_name: name of the pan joint.

  • tilt_joint_name: name of the tilt joint.

  • load_name: name of the load frame.

  • origin: pose of the device with respect of the parent frame.