aah98
/
XTDrone
forked from xtdrone/XTDrone
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

modify for robotic arm

This commit is contained in:
robin_shaun 2021-10-03 22:08:55 +08:00
parent f4b47b6792
commit 7a82693469
3 changed files with 12 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
sitl_config/robotic_arm/le_arm/urdf/component_snippets.xacro
View File

@ -696,18 +696,14 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box>
<size>0.015 0.1 0.02</size>
</box>
<box size="0.015 0.1 0.02" />
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box>
<size>0.015 0.1 0.02</size>
</box>
<box size="0.015 0.1 0.02" />
</geometry>
</visual>

7
sitl_config/robotic_arm/le_arm/urdf/iris_arm_base.xacro
View File

@ -202,7 +202,10 @@
</xacro:if>
<!-- Instantiate a VI sensor. -->
<xacro:vi_sensor_macro namespace="$(arg name)" parent_link="base_link">
<!-- <xacro:vi_sensor_macro namespace="$(arg name)" parent_link="base_link">
<origin xyz="0.2 0.0 0.0" rpy="0.0 0.0 0.0" />
</xacro:vi_sensor_macro>
</xacro:vi_sensor_macro> -->
<xacro:include filename="$(find le_arm)/urdf/sensors/camera.urdf.xacro"/>
</robot>

10
sitl_config/robotic_arm/le_arm/urdf/sensors/camera.urdf.xacro
View File

@ -5,7 +5,7 @@ This link is the base of the arm in which arm is placed
<robot name="camera" xmlns:xacro="http://ros.org/wiki/xacro">
<joint name="camera_joint" type="fixed">
<origin xyz="0.3 0 0.7" rpy="0 1.57 0"/>
<origin xyz="0.05 0 -0.07" rpy="0 1.57 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
@ -15,7 +15,7 @@ This link is the base of the arm in which arm is placed
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://le_arm/meshes/sensors/camera.STL" />
<mesh filename="package://le_arm/meshes/sensors/camera.STL" scale="0.1 0.1 0.1" />
</geometry>
</collision>
@ -30,9 +30,9 @@ This link is the base of the arm in which arm is placed
<inertial>
<mass value="0.00001" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
<inertia ixx="0.00001" ixy="0.0" ixz="0.0"
iyy="0.00001" iyz="0.0"
izz="0.00001" />
</inertial>
</link>