Add uvc_wideangle_camera.xacro

urdf/uvc_wideangle_camera.xacro

+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find iri_camera_gazebo)/urdf/wideangle_camera.gazebo" />
+
+  <xacro:macro name="uvc_wideangle_camera" params="name parent resolution model *origin sim_config">
+
+    <link name="${name}_uvc_camera_base">
+      <inertial>
+        <mass value="0.07700000" />
+        <origin xyz="-0.03379724 0.00000000 0.00000000" rpy="0 0 0"/>
+        <inertia ixx="0.00001570" ixy="0.00000000" ixz="0.0"
+                 iyy="0.00001824" iyz="0.0" 
+                 izz="0.00001824" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://iri_uvc_camera_description/meshes/${resolution}_uvc_camera_${model}.stl" />
+        </geometry>
+        <material name="DarkGrey">
+          <color rgba="0.2 0.2 0.2 1.0"/>
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://iri_uvc_camera_description/meshes/low_res_uvc_camera_${model}.stl" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="joint_${parent}_to_${name}_uvc_camera_base" type="fixed" >
+      <parent link="${parent}"/>
+      <child link="${name}_uvc_camera_base"/>
+      <xacro:insert_block name="origin" />
+    </joint>
+
+    <link name="${name}_uvc_camera_optical">
+    </link>
+
+    <joint name="joint_${name}_uvc_camera_base_to_${name}_uvc_camera_optical" type="fixed" >
+      <parent link="${name}_uvc_camera_base"/>
+      <child link="${name}_uvc_camera_optical"/>
+      <origin xyz="0.0 0.0 0.0" rpy="-1.5707 0 -1.5707" />
+    </joint>
+
+    <xacro:iri_wideangle_camera_gazebo name="${name}_uvc" config="${sim_config}"/>
+
+  </xacro:macro>
+
+</root>