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 - - - - - - @@ -241,24 +91,6 @@ - - - - - - - - - - - - - - - - - - diff --git a/src/iiwa_description/urdf/iiwa7.urdf.xacro b/src/iiwa_description/urdf/iiwa7.urdf.xacro index 22e7644..2b4df9c 100644 --- a/src/iiwa_description/urdf/iiwa7.urdf.xacro +++ b/src/iiwa_description/urdf/iiwa7.urdf.xacro @@ -18,11 +18,29 @@ - + + + + /camera/color + 30 + True + camera_optical_frame + + + + + + /camera/depth + 30 + True + camera_optical_frame + + + diff --git a/src/iiwa_description/urdf/tools/patron.xacro b/src/iiwa_description/urdf/tools/patron.xacro index bfc63b9..d49a1a6 100644 --- a/src/iiwa_description/urdf/tools/patron.xacro +++ b/src/iiwa_description/urdf/tools/patron.xacro @@ -1,31 +1,146 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - + + - + + - + - + - + - - + + + + + + + + + + + + + + + + + + + + + + + + + + 1.5708 + + 640 + 480 + R8G8B8 + + + 0.1 + 10.0 + + + gaussian + 0.005 + + + + + + + 1.5184 + + 640 + 480 + + + 0.52 + 6.0 + + + + 0.52 + 6.0 + 0.001 + + + gaussian + 0.02 + + + + + \ No newline at end of file