Merge pull request #105 from ipa-nhg/Feature/headcamURDF

Added head_cam frame to urdf

Author: Florian Weisshardt

cob4-1/calibration/calibration_offset.urdf.xacro

@@ -91,4 +91,12 @@
 	<property name="offset_sensorring_cam3d_pitch" value="0.0"/>
 	<property name="offset_sensorring_cam3d_yaw" value="0.0"/>
 
+	<!-- cam | handeye calibration | relative to head_3_link -->
+	<property name="offset_head_cam_x" value="0.0"/>
+	<property name="offset_head_cam_y" value="0.0"/>
+	<property name="offset_head_cam_z" value="0.0"/>
+	<property name="offset_head_cam_roll" value="0.0"/>
+	<property name="offset_head_cam_pitch" value="0.0"/>
+	<property name="offset_head_cam_yaw" value="0.0"/>
+
 </robot>

cob4-2/calibration/calibration_offset.urdf.xacro

@@ -123,4 +123,12 @@
 	<property name="offset_sensorring_cam3d_pitch" value="0.0"/>
 	<property name="offset_sensorring_cam3d_yaw" value="0.0"/>
 
+	<!-- cam | handeye calibration | relative to head_3_link -->
+	<property name="offset_head_cam_x" value="0.0"/>
+	<property name="offset_head_cam_y" value="0.0"/>
+	<property name="offset_head_cam_z" value="0.0"/>
+	<property name="offset_head_cam_roll" value="0.0"/>
+	<property name="offset_head_cam_pitch" value="0.0"/>
+	<property name="offset_head_cam_yaw" value="0.0"/>
+
 </robot>

cob4-5/calibration/calibration_offset.urdf.xacro

@@ -130,4 +130,13 @@
 	<property name="offset_sensorring_cam3d_back_roll" value="0.0"/>
 	<property name="offset_sensorring_cam3d_back_pitch" value="0.0"/>
 	<property name="offset_sensorring_cam3d_back_yaw" value="0.0"/>
+
+	<!-- cam | handeye calibration | relative to head_3_link -->
+	<property name="offset_head_cam_x" value="0.0"/>
+	<property name="offset_head_cam_y" value="0.0"/>
+	<property name="offset_head_cam_z" value="0.0"/>
+	<property name="offset_head_cam_roll" value="0.0"/>
+	<property name="offset_head_cam_pitch" value="0.0"/>
+	<property name="offset_head_cam_yaw" value="0.0"/>
+
 </robot>