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Merged
Myzhar merged 4 commits into from
Nov 24, 2021
Merged

Civerachb cpr master #795

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5d848e5
Create a macro that can be used to add multiple zed cameras to an exi…
civerachb-cpr Aug 17, 2021
186d662
Merge branch 'stereolabs:master' into master
civerachb-cpr Oct 26, 2021
a064324
Fix syntax errors in xacro file and improve URDF
Myzhar Nov 24, 2021
038fac5
Improve URDF link positions
Myzhar Nov 24, 2021
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Fix syntax errors in xacro file and improve URDF
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@Myzhar
Myzhar committed Nov 24, 2021
commit a064324fdce71dfe1253561fca93f95d93499ce6
6 changes: 3 additions & 3 deletions zed_wrapper/urdf/zed_descr.urdf.xacro
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Expand Up @@ -30,9 +30,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<xacro:arg name="cam_yaw" default="0.0" />

<xacro:include filename="$(find zed_wrapper)/urdf/zed_macro.urdf.xacro" />
<xacro:zed_camera name="${camera_name}" model="${camera_model}" parent="${base_frame}">
<origin xyz="${cam_pos_x} ${cam_pos_y} ${cam_pos_z}" rpy="${cam_roll} ${cam_pitch} ${cam_yaw}" />
<xacro:zed_camera name="$(arg camera_name)" model="$(arg camera_model)" parent="$(arg base_frame)">
<origin xyz="$(arg cam_pos_x) $(arg cam_pos_y) $(arg cam_pos_z)" rpy="$(arg cam_roll) $(arg cam_pitch) $(arg cam_yaw)" />
</xacro:zed_camera>

<link name="${base_frame}" />
<link name="$(arg base_frame)" />
</robot>