mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
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74 lines
2.6 KiB
XML
74 lines
2.6 KiB
XML
<?xml version="1.0"?>
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<!--
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Copyright (c) 2017, STEREOLABS.
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All rights reserved.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<robot name="zed_camera">
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<link name="zed_left_camera">
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<visual>
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<origin xyz="0 0 0" rpy="0 1.57 0"/>
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<geometry>
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<cylinder radius="0.007" length=".031"/>
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</geometry>
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<material name="dark_grey">
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<color rgba="0.1 0.1 0.1 1"/>
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</material>
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</visual>
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</link>
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<link name="zed_center">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://zed_wrapper/urdf/ZED.stl" />
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</geometry>
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<material name="light_grey">
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<color rgba="0.8 0.8 0.8 0.8"/>
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</material>
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</visual>
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</link>
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<link name="zed_right_camera">
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<visual>
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<origin xyz="0 0 0" rpy="0 1.57 0"/>
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<geometry>
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<cylinder radius="0.007" length=".031"/>
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</geometry>
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<material name="dark_grey">
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<color rgba="0.1 0.1 0.1 1"/>
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</material>
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</visual>
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</link>
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<link name="zed_depth_camera" />
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<joint name="zed_left_camera_joint" type="fixed">
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<parent link="zed_center"/>
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<child link="zed_left_camera"/>
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<origin xyz="0 0.06 0" rpy="0 0 0" />
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</joint>
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<joint name="zed_depth_camera_joint" type="fixed">
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<parent link="zed_left_camera"/>
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<child link="zed_depth_camera"/>
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<origin xyz="0 0 0" rpy="-1.5707963267948966 0 -1.5707963267948966" />
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</joint>
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<joint name="zed_right_camera_joint" type="fixed">
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<parent link="zed_center"/>
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<child link="zed_right_camera"/>
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<origin xyz="0 -0.06 0" rpy="0 0 0" />
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</joint>
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</robot>
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