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updated package structure and more fixes

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Ruixiang Du
2019-10-07 23:14:29 +08:00
parent ccccce9d40
commit 829b6f8845
4459 changed files with 6640 additions and 518864 deletions
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72
scout_base/urdf/agilex_scout.urdf Normal file
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<!--
Copyright 2016 The Cartographer Authors
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
Reference:
[1] https://github.com/IntelRealSense/librealsense/blob/master/doc/d435i.md
-->
<robot name="agilex_scout_rs16">
<material name="orange">
<color rgba="1.0 0.5 0.2 1" />
</material>
<material name="gray">
<color rgba="0.2 0.2 0.2 1" />
</material>
<!-- Robosense16 -->
<link name="rslidar">
<visual>
<origin xyz="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.07" radius="0.05" />
</geometry>
<material name="orange" />
</visual>
</link>
<!-- Realsense D435i -->
<link name="imu_link">
<visual>
<origin xyz="0.0 0.0 0.0" />
<geometry>
<box size="0.06 0.04 0.02" />
</geometry>
<material name="orange" />
</visual>
</link>
<link name="base_link" />
<joint name="rslidar_joint" type="fixed">
<parent link="base_link" />
<child link="rslidar" />
<origin xyz="0.25 0.0 0.29" rpy="0 0 0" />
</joint>
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<!--
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="camera_imu_optical_frame" />
<origin xyz="0 0 0.0" rpy="-1.57 0 -1.57" />
</joint>
-->
</robot>