Revision history [back]

<!-- camera -->
<!-- i think the pan joint can be deleted-->
<joint name="pan_joint" type="fixed">
 
type="fixed">

    <axis xyz="0 1 0" />
 <origin xyz="0.5 0 0.5" rpy="0 0 0"/><!-- 1.5708-->
 <parent link="base_link"/>
 <child link="pan_link"/>
 
</joint>
 
  </joint>

<joint name="camera_joint" type="revolute">
    <axis xyz="0 0 1"/>
1" />
  <limit lower="-${M_PI/2}" upper="${M_PI/2}"  effort="50" velocity="1"/>
    <origin xyz="0.0 0 0.08" rpy="0 0 0"/>
    <parent link="pan_link"/>
    <child link="camera_link"/>
  </joint>
 
</joint>



<link name="pan_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="0.16 0.16 0.01"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="0.02 0.02 0.01"/>  <!-- 0.16 0.16 0.01 -->
      </geometry>
        
 
<!--material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Black</name>
            </script>
        </material-->

    <!--material>
         <script>Gazebo/Black</script>
 </material-->

     <!--material name="Green"/--> <!-- i don t think the materials are initialized or something -->

 </visual>
 <inertial>
   <mass value="1e-5" />
   <origin xyz="0 0 0" rpy="0 0 0"/>
   <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
 </inertial>
 
 </link>
    <gazebo reference="pan_link">
        <material>Gazebo/Yellow</material>
    </gazebo>
 
</gazebo>





  <link name="camera_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="0.05 0.05 0.05"/>
      </geometry>
    </collision>
 
</collision>


    <visual>
   <origin xyz="0 0 0" rpy="0 0 0"/>
   <geometry>
 <box size="0.05 0.05 0.05"/>
   </geometry>
     <!--material>
         <script>
           <uri>file://media/materials/scripts/gazebo.material</uri>
           <name>Gazebo/Black</name>
         </script>
     </material-->

 <!--material>
      <script>Gazebo/Black</script>
 </material-->

     <!--material name="Green"/--> <!-- i don t think the materials are initialized or something -->

 </visual>


 <inertial>
   <mass value="1e-5" />
   <origin xyz="0 0 0" rpy="0 0 0"/>
   <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
 </inertial>
 
 </link>
    <gazebo reference="camera_link">
        <material>Gazebo/Red</material>
    </gazebo>
 
</gazebo>


<transmission name="pan_trans">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="camera_joint"/>
  <actuator name="camera_pan_unit">
    <hardwareinterface>EffortJointInterface</hardwareinterface>
    <mechanicalreduction>1</mechanicalreduction>
<hardwareInterface>EffortJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>
 
</transmission>


<gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
    <robotnamespace>/aircobot</robotnamespace>
<robotNamespace>/aircobot</robotNamespace><!--seems to work-->
  </plugin>
</gazebo></gazebo>

Obviously you can do the same for the tilt joint Good luck, Marcus