From c60e3d07b7fff90da79b11448d55039e597a94ff Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Thu, 1 Jun 2023 10:30:59 +0200
Subject: [PATCH] added camera_link and laser_link

---
 urdf/diffbot_description.urdf.xacro | 38 +++++++++++++++++++++++++++++
 urdf/odrive_rrbot.urdf.xacro        | 23 -----------------
 2 files changed, 38 insertions(+), 23 deletions(-)
 delete mode 100644 urdf/odrive_rrbot.urdf.xacro

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 8a8dcfd..ee432e6 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -179,6 +179,44 @@
         </inertial>
       </link>
 
+      <!-- Laser Link -->
+      <link name="${prefix}laser_link">
+        <visual>
+          <origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
+          <geometry>
+            <!-- Define the geometry of the laser link, e.g., a cylinder -->
+            <cylinder length="0.05" radius="0.02"/>
+          </geometry>
+        </visual>
+      </link>
+
+      <!-- Joint between Base Link and Laser Link -->
+      <joint name="${prefix}laser_joint" type="fixed">
+        <parent link="${prefix}base_link"/>
+        <child link="${prefix}laser_link"/>
+        <origin xyz="0 ${base_length/2} ${z_offset}" rpy="0 0 0"/>
+      </joint>
+
+      <!-- Camera Link -->
+      <link name="${prefix}camera_link">
+        <visual>
+          <origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
+          <geometry>
+            <!-- Define the geometry of the camera link, e.g., a box -->
+            <box size="0.1 0.1 0.05"/>
+          </geometry>
+        </visual>
+      </link>
+
+      <!-- Joint between Base Link and Camera Link -->
+      <joint name="${prefix}camera_joint" type="fixed">
+        <parent link="${prefix}base_link"/>
+        <child link="${prefix}camera_link"/>
+        <origin xyz="0 ${base_length/2} ${z_offset + base_height}" rpy="0 0 0"/>
+      </joint>
+
+
+
   </xacro:macro>
 
 </robot>
diff --git a/urdf/odrive_rrbot.urdf.xacro b/urdf/odrive_rrbot.urdf.xacro
deleted file mode 100644
index e22fbd7..0000000
--- a/urdf/odrive_rrbot.urdf.xacro
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
-
-  <xacro:arg name="prefix" default="" />
-
-  <xacro:include filename="$(find rrbot_description)/urdf/rrbot_description.urdf.xacro" />
-
-  <xacro:include filename="$(find rrbot_description)/gazebo/rrbot.materials.xacro" />
-
-  <xacro:include filename="$(find odrive_demo_description)/urdf/odrive.ros2_control.xacro" />
-
-  <link name="world"/>
-
-  <xacro:rrbot parent="world" prefix="$(arg prefix)">
-    <origin xyz="0 0 0" rpy="0 0 0" />
-  </xacro:rrbot>
-
-  <xacro:odrive_ros2_control
-    name="ODriveRRBot"
-    joint0_name="$(arg prefix)joint1"
-    joint1_name="$(arg prefix)joint2" />
-
-</robot>