Normalize the rotation axis of the axis urdf camera

Author: RomanRobotnik

urdf/axis.urdf.xacro

@@ -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 +64,9 @@
       </actuator>
     </transmission>
     <joint name="${prefix}_tilt_joint" type="revolute">
-      <axis xyz="0 -1 0"/>
-      <origin xyz="0.0 0.0 0.0"/>
+      <axis xyz="0 0 1"/>
+      <!--origin xyz="0.0 0.0 0.0"/-->
+      <origin xyz="0.0 0.0 0.0" rpy="${-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"/>