fath_pivot_mount_description

This package contains a single URDF macro used to add a manually-adjustable, Fath pivot mount used for cameras and other sensors.

To add the mount to your URDF, add e.g.

<xacro:include filename="$(find fath_pivot_mount_description)/urdf/lockmount.urdf.xacro" />
<xacro:fath_pivot_mount prefix="front_camera" parent_link="front_mount" angle="${pi/8}">
  <origin xyz="0 0 0" rpy="0 0 0" />
</xacro:fath_pivot_mount>

<xacro:sensor_d435 parent="front_camera_mount" name="front_realsense">
  <origin xyz="0 0 0" rpy="0 0 0" />
</xacro:sensor_d435>

The prefix parameter is prepended to all the joints and links inside the macro to ensure uniqueness.

The parent_link parameter defines the parent of the fath_pivot_mount. The macro automatically creates a fixed joint between parent_link and ${prefix}_base_link.

The angle parameter is the pitch angle of the mount. This angle is assumed to be fixed, as the fath_pivot_mount is manually adjusted.

The mounting surface of the mount is ${prefix}_mount, which may be used as the parent link for other URDF joints, as shown in the example above.

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package fath_pivot_mount_description \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

0.1.1 (2022-03-11)

• Bump CMake version to avoid CMP0048 warning.
• Contributors: Tony Baltovski

0.1.0 (2022-03-11)

• Renamed to fath_pivot_mount.
• Contributors: Tony Baltovski

0.0.2 (2021-04-26)

• Remove a copy & paste error in the cmake file that's breaking the install
• Contributors: Chris Iverach-Brereton

0.0.1 (2021-04-19)

• Initial release
• Contributors: Chris Iverach-Brereton