change hokuyo orientation in urdf
I have a urdf file with the Hokuyo facing downwards. I would like to change the orientation make the Hokuyo point upwards. What would be the best way to do it?
<xacro:macro name="hokuyo_mount_inverted" params="name parent *origin length ros_topic update_rate min_angle max_angle">
<xacro:beam_8020 name="${name}_sensor_beam" parent="${parent}" length="${length}">
<xacro:insert_block name="origin" />
</xacro:beam_8020>
<!--<xacro:aluminium_sheet name="${name}_plate" parent="${name}_sensor_beam"
thickness="${0.125*INCH_TO_M}" length="0.06" width="0.12">
<origin xyz="${0.5*INCH_TO_M} 0 ${length/2}" rpy="${M_PI/2} 0 ${M_PI/2}" />-->
<xacro:aluminium_sheet name="${name}_plate" parent="${name}_sensor_beam"
thickness="${0.125*INCH_TO_M}" length="0.06" width="0.12">
<origin xyz="-${0.5*INCH_TO_M} 0 ${length/2}" rpy="${M_PI/2} 0 ${M_PI/2}" />
</xacro:aluminium_sheet>
<xacro:hokuyo_04lx_laser name="${name}" parent="${name}_plate" ros_topic="${ros_topic}" update_rate="${update_rate}" min_angle="${min_angle}" max_angle="${max_angle}">
<origin xyz="0 0 ${0.125*INCH_TO_M}" rpy="0 0 0" />
</xacro:hokuyo_04lx_laser>
</xacro:macro>