Added a top navigation camera for testing.

urdf/include/sensors.xacro

@@ -59,14 +59,28 @@
       <origin xyz="0.26374 0 -0.0485" rpy="0 0 0"/>
     </joint>
 
-    <xacro:realsense_d435_depth parent="${name}_realsense_support" sim_config="$(find iri_ana_gazebo)/config/ana_realsense_config.yaml">
+    <xacro:realsense_d435_depth parent="${name}_realsense_support" name="nav_cam" sim_config="$(find iri_ana_gazebo)/config/ana_realsense_config.yaml">
       <origin xyz="0.0 0.0 0.0265" rpy="0 0.26 0" />
     </xacro:realsense_d435_depth>
 
+    <link name="${name}_realsense_support_top">
+    </link>
+
+    <joint name="joint_${parent}_to_${name}_realsense_support_top" type="fixed" >
+      <parent link="${parent}"/>
+      <child link="${name}_realsense_support_top"/>
+      <origin xyz="0.36 0 0.44" rpy="0 0 0"/>
+    </joint>
+
+    <xacro:realsense_d435_depth parent="${name}_realsense_support_top" name="nav_cam_top" sim_config="$(find iri_ana_gazebo)/config/ana_realsense_top_config.yaml">
+      <origin xyz="0.0 0.0 0.0265" rpy="0 1.0 0" />
+    </xacro:realsense_d435_depth>
+    
     <xacro:bno055_imu name="imu" parent="base_footprint" resolution="low_res" sim_config="$(find iri_ana_gazebo)/config/ana_bno055_config.yaml">
       <origin xyz="0.11928 -0.08805 0.23061" rpy="0 -1.5707 0" />
     </xacro:bno055_imu>
 
+    <!--
     <link name="${pan_tilt_xacro_properties['load_name']}">
     </link>
 
@@ -77,7 +91,7 @@
     <xacro:pan_tilt parent="${name}_box" pan_joint_name="${pan_tilt_xacro_properties['pan_joint_name']}" tilt_joint_name="${pan_tilt_xacro_properties['tilt_joint_name']}" load_name="${pan_tilt_xacro_properties['load_name']}" joint_interface="${pan_tilt_xacro_properties['joint_interface']}" sim_config="$(find iri_ana_gazebo)/config/ana_pan_tilt_gazebo.yaml">
       <origin xyz="0.15 0.0 0.2" rpy="0 0 0" />
     </xacro:pan_tilt>
-
+-->
   </xacro:macro>
 
 </root>