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.

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: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

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