How do I rotate a camera plugin in my model?
I have a urdf file for a four wheeled robot that includes a camera and a hokuyo laser scanner that uses the gazebo sensor plugins. However, at the moment the camera points to the rear of the robot. I have tried changing the origin tag of the link for the camera and also tried adding a pose tag to various parts of the urdf file, with no change being present.
This is my urdf file:
<?xml version="1.0"?>
<robot name="Bilkins">
<link name="chassis">
<visual>
<geometry>
<mesh filename="package://bilkins/meshes/chassis.dae" scale="0.1 0.1 0.1" />
</geometry>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://bilkins/meshes/chassis.dae" scale="0.1 0.1 0.1" />
</geometry>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2" />
<inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
</inertial>
</link>
<link name="rear_axle">
<visual>
<geometry>
<mesh filename="package://bilkins/meshes/rear_axle.dae" scale="0.1 0.1 0.1" />
</geometry>
<origin xyz="-1.3 0 -0.5" />
</visual>
<collision>
<geometry>
<mesh filename="package://bilkins/meshes/rear_axle.dae" scale="0.1 0.1 0.1" />
</geometry>
<origin xyz="-1.3 0 -0.5" />
</collision>
<inertial>
<mass value="0.14" />
<inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
</inertial>
</link>
<link name="front_axle">
<visual>
<geometry>
<mesh filename="package://bilkins/meshes/front_axle.dae" scale="0.1 0.1 0.1" />
</geometry>
<origin xyz="1.3 0 -0.5" />
</visual>
<collision>
<geometry>
<mesh filename="package://bilkins/meshes/front_axle.dae" scale="0.1 0.1 0.1" />
</geometry>
<origin xyz="1.3 0 -0.5" />
</collision>
<inertial>
<mass value="0.1" />
<inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
</inertial>
</link>
<link name="front_left_wheel">
<visual>
<geometry>
<mesh filename="package://bilkins/meshes/front_left_wheel.dae" scale="0.1 0.1 0.1" />
</geometry>
<origin xyz="1.3 0.9 -0.5" />
</visual>
<collision>
<geometry>
<mesh filename="package://bilkins/meshes/front_left_wheel.dae" scale="0.1 0.1 0.1" />
</geometry>
<origin xyz="1.3 0.9 -0.5" />
</collision>
<inertial>
<mass value="0.02" />
<inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
</inertial>
</link>
<link name="front_right_wheel">
<visual>
<geometry>
<mesh filename="package://bilkins/meshes/front_right_wheel.dae" scale="0.1 0.1 0.1" />
</geometry>
<origin xyz="1.3 -0.9 -0.5" />
</visual>
<collision>
<geometry>
<mesh filename="package ...