From 60e16dc6caeb02ea36e8d529f3b05f58bebb5e60 Mon Sep 17 00:00:00 2001
From: sl-jetson <sl-jetson@saltylab.local>
Date: Thu, 5 Mar 2026 14:42:49 -0500
Subject: [PATCH] feat: Add URDF robot description (Issue #477)

---
 .../urdf/saltybot.urdf.xacro                  | 28 +++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro b/jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro
index 6274f64..d12ef7b 100644
--- a/jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro
+++ b/jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro
@@ -283,4 +283,32 @@
     <origin xyz="0 ${-sensor_arm_r} 0" rpy="0 ${cam_tilt} ${-pi/2}"/>
   </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>