peleito/fath_pivot_mount_description

fath_pivot_mount_description

This package contains a single URDF macro used to add a manually-adjustable, Fath pivot mount used for cameras and other sensors.

To add the mount to your URDF, add e.g.

<xacro:include filename="$(find fath_pivot_mount_description)/urdf/lockmount.urdf.xacro" />
<xacro:fath_pivot_mount prefix="front_camera" parent_link="front_mount" angle="${pi/8}">
  <origin xyz="0 0 0" rpy="0 0 0" />
</xacro:fath_pivot_mount>

<xacro:sensor_d435 parent="front_camera_mount" name="front_realsense">
  <origin xyz="0 0 0" rpy="0 0 0" />
</xacro:sensor_d435>

The prefix parameter is prepended to all the joints and links inside the macro to ensure uniqueness.

The parent_link parameter defines the parent of the fath_pivot_mount. The macro automatically creates a fixed joint between parent_link and ${prefix}_base_link.

The angle parameter is the pitch angle of the mount. This angle is assumed to be fixed, as the fath_pivot_mount is manually adjusted.

The mounting surface of the mount is ${prefix}_mount, which may be used as the parent link for other URDF joints, as shown in the example above.