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https://github.com/bjoernellens1/cps_rmp220_support.git
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36 lines
1.9 KiB
XML
36 lines
1.9 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<xacro:arg name="camera_name" default="oak" />
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<xacro:arg name="camera_model" default="OAK-D" />
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<xacro:arg name="base_frame" default="oak-d_frame" />
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<xacro:arg name="parent_frame" default="oak-d-base-frame" />
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<xacro:arg name="cam_pos_x" default="0.0" />
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<xacro:arg name="cam_pos_y" default="0.0" />
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<xacro:arg name="cam_pos_z" default="0.0" />
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<xacro:arg name="cam_roll" default="0.0" />
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<xacro:arg name="cam_pitch" default="0.0" />
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<xacro:arg name="cam_yaw" default="0.0" />
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<xacro:include filename="$(find depthai_descriptions)/urdf/include/depthai_macro.urdf.xacro"/>
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<link name="$(arg parent_frame)"/>
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<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)"/>
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<xacro:arg name="has_imu" default="false" />
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<!-- <xacro:include filename="$(find depthai_descriptions)/urdf/include/base_macro.urdf.xacro"/> -->
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<!-- <link name="$(arg parent_frame)"/> -->
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<!-- <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="$(arg has_imu)"/> -->
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<joint name="oak-d-base-joint" type="fixed">
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<parent link="chassis"/>
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<child link="oak-d-base-frame"/>
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<origin xyz="${chassis_length/2 + 0.010} 0 ${chassis_height/2 - 0.010}" rpy="0 0 0"/>
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</joint>
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<!-- <link name="oak-d-base-frame">
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</link> -->
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</robot> |