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Repository Summary
Checkout URI | https://github.com/clearpathrobotics/lockmount_description.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2022-04-14 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
fath_pivot_mount_description | 0.1.1 |
README
fath_pivot_mount_description
This package contains a single URDF macro used to add a manually-adjustable, Fath pivot mount used for cameras and other sensors.
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:fath_pivot_mount>
<xacro:sensor_d435 parent="front_camera_mount" name="front_realsense">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:sensor_d435>
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.
CONTRIBUTING
No CONTRIBUTING.md found.
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