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Feature/add stl model. #112

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6a076d6
Added mesh file from a different branch of bebop_autonomy. Fixed orie…
May 1, 2017
94a9f6d
Fixed URDF mesh offsets as well as camera frame offsets.
atomoclast Jun 6, 2017
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Binary file added bebop_description/meshes/bebop_model.stl
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15 changes: 11 additions & 4 deletions bebop_description/urdf/bebop_base.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<!-- Kinematic model only, no visuals, no collisions -->
<!-- Kinematic model, simplified visual, no collisions -->
<robot name="bebop" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:property name="camera_offset_len" value="0.1" />
<xacro:property name="camera_offset_len" value="0.1651" />
<xacro:property name="camera_offset_ver" value="0.0" />
<!-- +- 35 degrees -->
<xacro:property name="pan_range" value="0.6108652381980153" />
Expand All @@ -12,7 +12,14 @@
<xacro:property name="tilt_vel" value="2.0" />
<xacro:property name="joint_effort" value="50" />

<link name="base_link"></link>
<link name="base_link">
<visual>
<origin xyz="0 -.0225 -0.02" rpy="0 -0.0254 0"/>
<geometry>
<mesh filename="package://bebop_description/meshes/bebop_model.stl"/>
</geometry>
</visual>
</link>
<link name="camera_base_link"></link>
<link name="camera_pan_link"></link>
<link name="camera_tilt_link"></link>
Expand Down Expand Up @@ -50,4 +57,4 @@

<!-- [nice to have] -->
<!-- xacro:include filename="bebop.gazebo" /-->
</robot>
</robot>