Package Summary

Tags No category tags.
Version 0.1.1
License BSD
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version main
Last Updated 2022-04-14
CI status Continuous Integration : 0 / 0
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

URDF Macro for adding an adjustable, fath pivot mount used for cameras and other sensors

Additional Links

No additional links.


  • Chris Iverach-Brereton


  • Chris Iverach-Brereton


This package contains a single URDF macro used to add a manually-adjustable, Fath pivot mount used for cameras and other sensors.

Fath Pivot Mount

To add the mount to your URDF, add e.g.

<xacro:include filename="$(find fath_pivot_mount_description)/urdf/lockmount.urdf.xacro" />
<xacro:fath_pivot_mount prefix="front_camera" parent_link="front_mount" angle="${pi/8}">
  <origin xyz="0 0 0" rpy="0 0 0" />

<xacro:sensor_d435 parent="front_camera_mount" name="front_realsense">
  <origin xyz="0 0 0" rpy="0 0 0" />

The prefix parameter is prepended to all the joints and links inside the macro to ensure uniqueness.

The parent_link parameter defines the parent of the fath_pivot_mount. The macro automatically creates a fixed joint between parent_link and ${prefix}_base_link.

The angle parameter is the pitch angle of the mount. This angle is assumed to be fixed, as the fath_pivot_mount is manually adjusted.

The mounting surface of the mount is ${prefix}_mount, which may be used as the parent link for other URDF joints, as shown in the example above.


^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package fath_pivot_mount_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.1.1 (2022-03-11)

  • Bump CMake version to avoid CMP0048 warning.
  • Contributors: Tony Baltovski

0.1.0 (2022-03-11)

  • Renamed to fath_pivot_mount.
  • Contributors: Tony Baltovski

0.0.2 (2021-04-26)

  • Remove a copy & paste error in the cmake file that\'s breaking the install
  • Contributors: Chris Iverach-Brereton

0.0.1 (2021-04-19)

  • Initial release
  • Contributors: Chris Iverach-Brereton

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found


No message files found.


No service files found


No plugins found.

Recent questions tagged fath_pivot_mount_description at Robotics Stack Exchange