From 68de5fa7b7d4cfe82a6681c8d0c780376744c760 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Tue, 14 Apr 2020 16:19:28 +0200
Subject: [PATCH] Included a first version of the pan and tilt to check that
all is working
---
config/ana_pan_tilt_xacro.yaml | 5 ++++
package.xml | 1 +
urdf/include/sensors.xacro | 42 ++++++++++++++++++++++++++++++++++
3 files changed, 48 insertions(+)
create mode 100644 config/ana_pan_tilt_xacro.yaml
diff --git a/config/ana_pan_tilt_xacro.yaml b/config/ana_pan_tilt_xacro.yaml
new file mode 100644
index 0000000..82c8193
--- /dev/null
+++ b/config/ana_pan_tilt_xacro.yaml
@@ -0,0 +1,5 @@
+pan_joint_name: pan
+tilt_joint_name: tilt
+load_name: camera_base_frame
+joint_interface: EffortJointInterface
+
diff --git a/package.xml b/package.xml
index 653521b..626c394 100644
--- a/package.xml
+++ b/package.xml
@@ -55,6 +55,7 @@
<exec_depend>iri_velodyne_lidar_description</exec_depend>
<exec_depend>iri_bno055_imu_description</exec_depend>
<exec_depend>iri_realsense_depth_description</exec_depend>
+ <exec_depend>iri_dynamixel_pan_tilt_description</exec_depend>
diff --git a/urdf/include/sensors.xacro b/urdf/include/sensors.xacro
index cff3c53..cdbe69c 100644
--- a/urdf/include/sensors.xacro
+++ b/urdf/include/sensors.xacro
@@ -4,6 +4,10 @@
<xacro:include filename="$(find iri_velodyne_lidar_description)/urdf/velodyne_vlp16.xacro" />
<xacro:include filename="$(find iri_realsense_depth_description)/urdf/realsense.xacro" />
<xacro:include filename="$(find iri_bno055_imu_description)/urdf/bno055_imu.xacro" />
+ <xacro:include filename="$(find iri_dynamixel_pan_tilt_description)/urdf/pan_tilt.xacro" />
+
+ <xacro:property name="pan_tilt_xacro_conf" value="$(find iri_ana_description)/config/ana_pan_tilt_xacro.yaml"/>
+ <xacro:property name="pan_tilt_xacro_properties" value="${load_yaml(pan_tilt_xacro_conf)}"/>
<xacro:macro name="sensors" params="name parent">
@@ -63,6 +67,44 @@
<origin xyz="0.11928 -0.08805 0.23061" rpy="0 -1.5707 0" />
</xacro:bno055_imu>
+ <link name="${pan_tilt_xacro_properties['load_name']}">
+ <visual>
+ <geometry>
+ <box size=".05 .05 .01"/>
+ </geometry>
+ <origin rpy="0 ${pi/2} 0" xyz="0 0 .025"/>
+ <material name="blue">
+ <color rgba="0 0 .8 1"/>
+ </material>
+ </visual>
+ <inertial>
+ <origin rpy="0 ${pi/2} 0" xyz="0 0 .025"/>
+ <mass value="1"/>
+ <inertia
+ ixx="0.0001" ixy="0.0" ixz="0.0"
+ iyy="0.0001" iyz="0.0"
+ izz="0.0001"/>
+ </inertial>
+ </link>
+
+ <link name="camera_optical_frame"/>
+
+ <gazebo reference="${pan_tilt_xacro_properties['load_name']}">
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ <material>Gazebo/Blue</material>
+ </gazebo>
+
+ <joint name="${pan_tilt_xacro_properties['load_name']}_to_camera_optical_frame" type="fixed" >
+ <parent link="${pan_tilt_xacro_properties['load_name']}"/>
+ <child link="camera_optical_frame"/>
+ <origin xyz="0.0 0.0 0.025" rpy="${pi/2} 0 -${pi/2}"/>
+ </joint>
+
+ <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>
--
GitLab