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"> -- GitLab