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.