1a1084c627
* Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality
9 lines
364 B
XML
9 lines
364 B
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>
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<xacro:sensor_d435i parent="pedestal_link" use_nominal_extrinsics="true">
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<origin xyz="0.0 -0.025 0.995216" rpy="0.0 ${80 * 2.0 * pi / 360.0} ${-pi/2.0}"/>
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</xacro:sensor_d435i>
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</robot>
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