From 26820feef9a8fd970f068fd97b73149fa62ad654 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 18 Feb 2021 19:12:27 +0100
Subject: [PATCH] Add uvc_wideangle_camera.xacro
---
urdf/uvc_wideangle_camera.xacro | 53 +++++++++++++++++++++++++++++++++
1 file changed, 53 insertions(+)
create mode 100644 urdf/uvc_wideangle_camera.xacro
diff --git a/urdf/uvc_wideangle_camera.xacro b/urdf/uvc_wideangle_camera.xacro
new file mode 100644
index 0000000..4909ade
--- /dev/null
+++ b/urdf/uvc_wideangle_camera.xacro
@@ -0,0 +1,53 @@
+<?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>
--
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