Skip to content

Commit 40129e9

Browse files
author
Florian Weisshardt
authored
Merge pull request #105 from ipa-nhg/Feature/headcamURDF
Added head_cam frame to urdf
2 parents 5b92423 + 98a016d commit 40129e9

File tree

3 files changed

+25
-0
lines changed

3 files changed

+25
-0
lines changed

cob4-1/calibration/calibration_offset.urdf.xacro

+8
Original file line numberDiff line numberDiff line change
@@ -91,4 +91,12 @@
9191
<property name="offset_sensorring_cam3d_pitch" value="0.0"/>
9292
<property name="offset_sensorring_cam3d_yaw" value="0.0"/>
9393

94+
<!-- cam | handeye calibration | relative to head_3_link -->
95+
<property name="offset_head_cam_x" value="0.0"/>
96+
<property name="offset_head_cam_y" value="0.0"/>
97+
<property name="offset_head_cam_z" value="0.0"/>
98+
<property name="offset_head_cam_roll" value="0.0"/>
99+
<property name="offset_head_cam_pitch" value="0.0"/>
100+
<property name="offset_head_cam_yaw" value="0.0"/>
101+
94102
</robot>

cob4-2/calibration/calibration_offset.urdf.xacro

+8
Original file line numberDiff line numberDiff line change
@@ -123,4 +123,12 @@
123123
<property name="offset_sensorring_cam3d_pitch" value="0.0"/>
124124
<property name="offset_sensorring_cam3d_yaw" value="0.0"/>
125125

126+
<!-- cam | handeye calibration | relative to head_3_link -->
127+
<property name="offset_head_cam_x" value="0.0"/>
128+
<property name="offset_head_cam_y" value="0.0"/>
129+
<property name="offset_head_cam_z" value="0.0"/>
130+
<property name="offset_head_cam_roll" value="0.0"/>
131+
<property name="offset_head_cam_pitch" value="0.0"/>
132+
<property name="offset_head_cam_yaw" value="0.0"/>
133+
126134
</robot>

cob4-5/calibration/calibration_offset.urdf.xacro

+9
Original file line numberDiff line numberDiff line change
@@ -130,4 +130,13 @@
130130
<property name="offset_sensorring_cam3d_back_roll" value="0.0"/>
131131
<property name="offset_sensorring_cam3d_back_pitch" value="0.0"/>
132132
<property name="offset_sensorring_cam3d_back_yaw" value="0.0"/>
133+
134+
<!-- cam | handeye calibration | relative to head_3_link -->
135+
<property name="offset_head_cam_x" value="0.0"/>
136+
<property name="offset_head_cam_y" value="0.0"/>
137+
<property name="offset_head_cam_z" value="0.0"/>
138+
<property name="offset_head_cam_roll" value="0.0"/>
139+
<property name="offset_head_cam_pitch" value="0.0"/>
140+
<property name="offset_head_cam_yaw" value="0.0"/>
141+
133142
</robot>

0 commit comments

Comments
 (0)