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Fixed camera pose

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Pimpest
2026-04-11 11:12:23 +02:00
parent 5c474e741b
commit 7edb62ef34
2 changed files with 70 additions and 22 deletions
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13
toid_bot_description/src/toid_bot_description.urdf
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@@ -24,6 +24,10 @@
<xacro:property name="lidar_height" value="0.02"/>
<xacro:property name="lidar_xoff" value="0.09"/>
<xacro:property name="camera_xoff" value="0.07369"/>
<xacro:property name="camera_zoff" value="0.16664"/>
<xacro:property name="camera_pitch" value="${-105 * pi/180}"/>
<xacro:property name="base_zoff" value="${-wheel_zoff + wheel_radius + base_height/2}"/>
<link name="base_link">
@@ -39,6 +43,9 @@
<link name="base_footprint"/>
<link name="camera" />
<link name="lidar">
<visual>
<geometry>
@@ -56,6 +63,12 @@
<origin xyz="${-wheel_xoff} 0.0 ${base_zoff}" rpy="0 0 0"/>
</joint>
<joint name="camera_base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="camera"/>
<origin xyz="${camera_xoff} 0 ${camera_zoff}" rpy="${camera_pitch} 0 ${-pi/2}"/>
</joint>
<joint name="lidar_joint" type="fixed">
<parent link="base_link"/>
<child link="lidar"/>