Update camera urdf

urdf/include/head.xacro

@@ -92,6 +92,15 @@
       </inertial>
     </link>
     
+    <link name="${load_name}_base">
+    </link>
+    
+    <joint name="${load_name}2${load_name}_base_joint" type="fixed">
+      <parent link="${load_name}"/>
+      <child link="${load_name}_base"/>
+      <origin xyz="0 0 0" rpy="-${PI/2} 0 -${PI/2}"/>
+    </joint>
+    
     <xacro:servo_joint name="${joint1_name}"
                       parent="${servo1_name}"
                       child="${servo2_name}">

urdf/include/sensors.xacro

@@ -4,9 +4,10 @@
   
   <xacro:include filename="$(find iri_hokuyo_laser2d_description)/urdf/hokuyo_laser2d.xacro" />
 
-
   <xacro:macro name="sensors" params="name parent">
     
+    <xacro:property name="PI" value="3.1415926535897931" />
+    
     <xacro:property name="front_laser_config" value="$(find iri_dabo_gazebo)/config/front_hokuyo_utm30lx.yaml"/>
     <xacro:property name="rear_laser_config"  value="$(find iri_dabo_gazebo)/config/rear_hokuyo_utm30lx.yaml"/>
 
@@ -17,6 +18,27 @@
     <xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="${parent}" mesh_resolution="low_res" model="utm30lx" config_file="${rear_laser_config}">
       <origin xyz="-0.28 0.0 0.15" rpy="0 0 3.14159" />
     </xacro:hokuyo_laser2d>
+    
+    <!--TODO add Bumblebee 2 -->
+    <xacro:include filename="$(find iri_bumblebee2_camera_description)/urdf/bumblebee2_camera.xacro" />
+    
+    <xacro:bumblebee2_camera name="bumblebee2" parent="head_base" resolution="low_res" sim_config="$(find iri_stereo_camera_gazebo)/config/stereo_camera_config.yaml">
+      <origin xyz="0.03 0.0 0.0" rpy="0 0 0"/>
+    </xacro:bumblebee2_camera>
+    
+    <!-- example realsense
+    <xacro:include filename="$(find iri_realsense_depth_description)/urdf/realsense.xacro" />
+    <xacro:realsense_depth parent="head_base" model="d435" sim_config="$(find iri_depth_camera_gazebo)/config/realsense_d435_depth_sim_config.yaml">
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+    </xacro:realsense_depth>
+    -->
+    
+    <!-- example uvc_camera
+    <xacro:include filename="$(find iri_uvc_camera_description)/urdf/uvc_camera.xacro" />
+    <xacro:uvc_camera name="camera" parent="head_base" resolution="low_res" model="default" sim_config="$(find iri_camera_gazebo)/config/camera_sim_config.yaml">
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+    </xacro:uvc_camera>
+    -->
 
   </xacro:macro>