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feat: Add URDF robot description (Issue #477)

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sl-jetson 2026-03-05 14:42:49 -05:00
parent dd459c0df7
commit 33036e2967
1 changed files with 28 additions and 0 deletions
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28
jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro
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@ -283,4 +283,32 @@
<origin xyz="0 ${-sensor_arm_r} 0" rpy="0 ${cam_tilt} ${-pi/2}"/> <origin xyz="0 ${-sensor_arm_r} 0" rpy="0 ${cam_tilt} ${-pi/2}"/>
</joint> </joint>
<!-- Pan Servo Link -->
<link name="pan_servo">
<inertial>
<mass value="0.05"/>
<inertia ixx="0.000005" ixy="0.0" ixz="0.0" iyy="0.000005" iyz="0.0" izz="0.000005"/>
</inertial>
</link>
<joint name="pan_servo_joint" type="fixed">
<parent link="sensor_head_link"/>
<child link="pan_servo"/>
<origin xyz="${sensor_arm_r} 0 ${-0.020}" rpy="0 0 0"/>
</joint>
<!-- Tilt Servo Link -->
<link name="tilt_servo">
<inertial>
<mass value="0.05"/>
<inertia ixx="0.000005" ixy="0.0" ixz="0.0" iyy="0.000005" iyz="0.0" izz="0.000005"/>
</inertial>
</link>
<joint name="tilt_servo_joint" type="fixed">
<parent link="pan_servo"/>
<child link="tilt_servo"/>
<origin xyz="0 0 0.020" rpy="0 0 0"/>
</joint>
</robot> </robot>