From 8f55d28fb27f850f9caa89200f58a2bcebcb10c4 Mon Sep 17 00:00:00 2001
From: Fernando Herrero Cotarelo <fherrero@iri.upc.edu>
Date: Tue, 8 Nov 2016 16:49:34 +0000
Subject: [PATCH] helena_description:  - helena.xacro. camera rotated pi/2 on
 roll (real camera set up)  - base_footprint hangs from base_link frame

---
 urdf/helena.xacro            | 2 +-
 urdf/platform/platform.xacro | 7 +++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/urdf/helena.xacro b/urdf/helena.xacro
index 5974b70..4e4817c 100755
--- a/urdf/helena.xacro
+++ b/urdf/helena.xacro
@@ -19,7 +19,7 @@
   </xacro:sensor_laser>
 
   <xacro:sensor_camera parent="top_plate" name="front_bluefox_camera" prefix="$(arg name)">
-    <origin xyz="0.109 0 0.085" rpy="0 0 0"/>
+    <origin xyz="0.109 0 0.085" rpy="1.57079 0 0"/>
   </xacro:sensor_camera>
 
   <xacro:sensor_laser_3d parent="top_plate" name="laser_3d" prefix="$(arg name)">
diff --git a/urdf/platform/platform.xacro b/urdf/platform/platform.xacro
index 030295e..f67ae4d 100644
--- a/urdf/platform/platform.xacro
+++ b/urdf/platform/platform.xacro
@@ -27,8 +27,11 @@
 
   <joint name="base_link_joint" type="fixed">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
+   <!-- <parent link="base_footprint"/>
+    <child link="base_link"/>-->
+    <parent link="base_link"/>
+    <child link="base_footprint"/>
+   
   </joint>
 
   <link name="top_plate">
-- 
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