ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-09-22 08:42:13 +02:00
parent 5ef00ced5c
commit 781f65c788
1 changed files with 3 additions and 13 deletions
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16
description/oak-d-lite.xacro
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@ -16,21 +16,11 @@
<link name="$(arg parent_frame)"/> <link name="$(arg parent_frame)"/>
<xacro:depthai_camera camera_name = "$(arg camera_name)" parent = "$(arg parent_frame)" camera_model = "$(arg camera_model)" base_frame = "$(arg base_frame)" cam_pos_x = "$(arg cam_pos_x)" cam_pos_y = "$(arg cam_pos_y)" cam_pos_z = "$(arg cam_pos_z)" cam_roll = "$(arg cam_roll)" cam_pitch = "$(arg cam_pitch)" cam_yaw = "$(arg cam_yaw)"/> <xacro:depthai_camera camera_name = "$(arg camera_name)" parent = "$(arg parent_frame)" camera_model = "$(arg camera_model)" base_frame = "$(arg base_frame)" cam_pos_x = "$(arg cam_pos_x)" cam_pos_y = "$(arg cam_pos_y)" cam_pos_z = "$(arg cam_pos_z)" cam_roll = "$(arg cam_roll)" cam_pitch = "$(arg cam_pitch)" cam_yaw = "$(arg cam_yaw)"/>
<xacro:arg name="camera_name" default="oak" />
<xacro:arg name="camera_model" default="OAK-D-LITE" />
<xacro:arg name="base_frame" default="oak-d_frame" />
<xacro:arg name="parent_frame" default="oak-d-base-frame" />
<xacro:arg name="cam_pos_x" default="0.0" />
<xacro:arg name="cam_pos_y" default="0.0" />
<xacro:arg name="cam_pos_z" default="0.0" />
<xacro:arg name="cam_roll" default="0.0" />
<xacro:arg name="cam_pitch" default="0.0" />
<xacro:arg name="cam_yaw" default="0.0" />
<xacro:arg name="has_imu" default="false" /> <xacro:arg name="has_imu" default="false" />
<xacro:include filename="$(find depthai_descriptions)/urdf/include/base_macro.urdf.xacro"/> <xacro:include filename="$(find depthai_descriptions)/urdf/include/base_macro.urdf.xacro"/>
<link name="$(arg parent_frame)"/> <!-- <link name="$(arg parent_frame)"/> -->
<xacro:base camera_name = "$(arg camera_name)" parent = "$(arg parent_frame)" camera_model = "$(arg camera_model)" base_frame = "$(arg base_frame)" cam_pos_x = "$(arg cam_pos_x)" cam_pos_y = "$(arg cam_pos_y)" cam_pos_z = "$(arg cam_pos_z)" cam_roll = "$(arg cam_roll)" cam_pitch = "$(arg cam_pitch)" cam_yaw = "$(arg cam_yaw)" has_imu="$(arg has_imu)"/> <xacro:base camera_name = "$(arg camera_name)" parent = "$(arg parent_frame)" camera_model = "$(arg camera_model)" base_frame = "$(arg base_frame)" cam_pos_x = "$(arg cam_pos_x)" cam_pos_y = "$(arg cam_pos_y)" cam_pos_z = "$(arg cam_pos_z)" cam_roll = "$(arg cam_roll)" cam_pitch = "$(arg cam_pitch)" cam_yaw = "$(arg cam_yaw)" has_imu="$(arg has_imu)"/>
<joint name="oak-d-base-joint" type="fixed"> <joint name="oak-d-base-joint" type="fixed">
@ -40,7 +30,7 @@
</joint> </joint>
<link name="oak-d-base-frame"> <!-- <link name="oak-d-base-frame">
</link> </link> -->
</robot> </robot>