From d152a3fa83af2baa990124b7a264fb8c7f85f9bb Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 7 May 2020 10:26:23 +0200
Subject: [PATCH] Fix pan tilt camera orientation
---
urdf/include/sensors.xacro | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/urdf/include/sensors.xacro b/urdf/include/sensors.xacro
index 3491d91..52e7db5 100644
--- a/urdf/include/sensors.xacro
+++ b/urdf/include/sensors.xacro
@@ -80,7 +80,7 @@
</xacro:realsense_depth>-->
<xacro:realsense_d435_depth parent="${pan_tilt_xacro_properties['load_name']}" name="camera_pan_tilt" sim_config="$(find iri_ana_gazebo)/config/ana_realsense_pan_tilt_config.yaml">
- <origin xyz="0.0 0.04 -0.016" rpy="-${pi/2} 0 ${pi}" />
+ <origin xyz="0.0 0.02 -0.016" rpy="${pi/2} 0 ${pi}" />
</xacro:realsense_d435_depth>
<xacro:pan_tilt parent="${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">
--
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