sensor_head.urdf.xacro

<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="sensor_head">

	<xacro:macro name="sensor_head" params="*origin parent:=base_link name:=sensor_head">
		<joint name="${name}_base_mount_joint" type="fixed">
			<xacro:insert_block name="origin" />
			<parent link="${parent}"/>
			<child link="${name}_base_link"/>
		</joint>

		<link name="${name}_base_link">
			<inertial>
				<mass value="0.001" />
				<origin xyz="0 0 0" rpy="0 0 0"/>
				<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
			</inertial>
		</link>

		<xacro:arg name="gpu" default="true"/>
		
		<xacro:include filename="$(find lidar_description)/urdf/VLP-16.urdf.xacro"/>
		<xacro:VLP-16 parent="${name}_base_link" name="velodyne" topic="velodyne_points" hz="10" samples="440" gpu="$(arg gpu)" collision_range="0.2" min_range="0.2">
			<origin xyz="0.03 0 0.08" rpy="0 0 0" />
		</xacro:VLP-16>

		<xacro:include filename="$(find lidar_description)/urdf/OS1-64.urdf.xacro"/>
		<xacro:OS1-64 parent="${name}_base_link" name="lidar_front" topic="lidar_front_points" hz="10" lasers="32" samples="440" min_range="0.7">
			<origin xyz="0.1 -0.3 -0.1" rpy="0 0.5 0" />
		</xacro:OS1-64>

		<xacro:include filename="$(find smb_description)/urdf/smb_rgb_camera.urdf.xacro"/>

		<!-- Cameras: -->
		<!-- <xacro:rgb_camera parent="velodyne_base_link" name="rgb_cam_front">
			<origin xyz="0.040 -0.02 0.09" rpy="0 0 0" />
		</xacro:rgb_camera>

		<xacro:rgb_camera parent="velodyne_base_link" name="rgb_cam_left">
			<origin xyz="0 0.040 0.09" rpy="0 0 1.570795" />
		</xacro:rgb_camera>

		<xacro:rgb_camera parent="velodyne_base_link" name="rgb_cam_right">
			<origin xyz="0 -0.040 0.09" rpy="0 0 -1.570795" />
		</xacro:rgb_camera> -->
		
	</xacro:macro>
</robot>