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23 lines
686 B
23 lines
686 B
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_d435i">
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<xacro:arg name="use_nominal_extrinsics" default="true"/>
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<xacro:arg name="add_plug" default="false"/>
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<xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>
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<!-- xyz = "
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depth (- recessed into head / + protruding from front)
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up and down (- down / + up)
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sideways (- right / + left)
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" -->
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<xacro:sensor_d435i parent="link_head_tilt" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
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<origin
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xyz="0.03 -0.0122 0.0182"
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rpy="0.0 0.0 0.0" />
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</xacro:sensor_d435i>
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</robot>
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