Merge pull request RobotnikAutomation#29 from RobotnikAutomation/feature/normalize-axiscamera-axis

Feature/normalize axiscamera axis

Author: robert-ros

urdf/axis.urdf.xacro

@@ -8,7 +8,7 @@
 
   <xacro:macro name="sensor_axis" params="prefix parent *origin far:=^|8.0 near:=^|0.05">
     <joint name="${prefix}_joint" type="fixed">
-      <axis xyz="0 1 0"/>
+      <axis xyz="0 0 1"/>
       <xacro:insert_block name="origin"/>
       <parent link="${parent}"/>
       <child link="${prefix}_base_link"/>
@@ -38,7 +38,7 @@
       </collision>
     </link>
     <joint name="${prefix}_pan_joint" type="revolute">
-      <axis xyz="0 0 -1"/>
+      <axis xyz="0 0 1"/>
       <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
       <!-- check the displacement -->
       <parent link="${prefix}_base_link"/>
@@ -64,8 +64,8 @@
       </actuator>
     </transmission>
     <joint name="${prefix}_tilt_joint" type="revolute">
-      <axis xyz="0 -1 0"/>
-      <origin xyz="0.0 0.0 0.0"/>
+      <axis xyz="0 0 1"/>
+      <origin xyz="0.0 0.0 0.0" rpy="${-PI/2} 0 0"/>
       <parent link="${prefix}_pan_link"/>
       <child link="${prefix}_tilt_link"/>
       <limit effort="${ptz_joint_effort_limit}" velocity="${ptz_joint_velocity_limit}" lower="-1.5708" upper="1.5708"/>

urdf/axis_m5013.urdf.xacro

@@ -9,7 +9,7 @@
 
   <xacro:macro name="sensor_axis_m5013" params="prefix parent *origin far:=^|8.0 near:=^|0.05">
     <joint name="${prefix}_joint" type="fixed">
-      <axis xyz="0 1 0"/>
+      <axis xyz="0 0 1"/>
       <xacro:insert_block name="origin"/>
       <parent link="${parent}"/>
       <child link="${prefix}_base_link"/>
@@ -39,8 +39,8 @@
     </link>
 
     <joint name="${prefix}_pan_joint" type="revolute">
-      <axis xyz="1 0 0"/>
-      <origin xyz="0.04 0.0 0.0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <origin xyz="1 0.0 0.04" rpy="0 0 0"/>
       <!-- check the displacement -->
       <parent link="${prefix}_base_link"/>
       <child link="${prefix}_pan_link"/>
@@ -66,8 +66,8 @@
     </transmission>
 
     <joint name="${prefix}_tilt_joint" type="revolute">
-      <axis xyz="0 -1 0"/>
-      <origin xyz="0.0 0.0 0.0" rpy="0 ${-PI/2} 0"/>
+      <axis xyz="0 0 1"/>
+      <origin xyz="0.0 0.0 0.0" rpy="${-PI/2} 0 0"/>
       <parent link="${prefix}_pan_link"/>
       <child link="${prefix}_tilt_link"/>
       <limit effort="${ptz_joint_effort_limit}" velocity="${ptz_joint_velocity_limit}" lower="-1.5708" upper="1.5708"/>

urdf/axis_m5525.urdf.xacro

@@ -9,22 +9,19 @@
 
   <xacro:macro name="sensor_axis_m5525" params="prefix parent *origin far:=^|8.0 near:=^|0.05 prefix_topic:=^ptz_camera">
     <joint name="${prefix}_joint" type="fixed">
-      <axis xyz="0 1 0"/>
-      <!--
-	      <origin xyz="0.180 0.0 0.270"/>
--->
+      <axis xyz="0 0 1"/>
       <xacro:insert_block name="origin"/>
       <parent link="${parent}"/>
       <child link="${prefix}_base_link"/>
     </joint>
     <link name="${prefix}_base_link">
       <inertial>
-        <origin xyz="0.066 0 0" rpy="0 ${M_PI/2} 0"/>
+        <origin xyz="0.066 0 0" rpy="0 0 0"/>
         <mass value="0.8"/>
         <xacro:solid_cuboid_inertia m="0.8" w="0.165" h="0.165" d="0.132" />
       </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="0 ${M_PI/2} 0"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
         <!-- to center the axis model -->
         <material name="axis_color">
           <color rgba="0.1 0.1 0.1 1"/>
@@ -34,16 +31,16 @@
         </geometry>
       </visual>
       <collision>
-        <origin xyz="0.0 0.0 0" rpy="0 ${M_PI/2} 0"/>
+        <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
         <geometry>
           <mesh filename="package://robotnik_sensors/meshes/axis_m5525.stl" scale="1.0 1.0 1.0"/>
         </geometry>
       </collision>
     </link>
 
     <joint name="${prefix}_pan_joint" type="revolute">
-      <axis xyz="1 0 0"/>
-      <origin xyz="0.087 0.0 0.0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <origin xyz="0 0.0 0.087" rpy="0 0 0"/>
       <!-- check the displacement -->
       <parent link="${prefix}_base_link"/>
       <child link="${prefix}_pan_link"/>
@@ -68,8 +65,8 @@
       </actuator>
     </transmission>
     <joint name="${prefix}_tilt_joint" type="revolute">
-      <axis xyz="0 -1 0"/>
-      <origin xyz="0.0 0.0 0.0" rpy="0 ${-PI/2} 0"/>
+      <axis xyz="0 0 1"/>
+      <origin xyz="0.0 0.0 0.0" rpy="${-PI/2} 0 0"/>
       <parent link="${prefix}_pan_link"/>
       <child link="${prefix}_tilt_link"/>
       <limit effort="${ptz_joint_effort_limit}" velocity="${ptz_joint_velocity_limit}" lower="-1.5708" upper="1.5708"/>