Add sensor mount points from Rhys

Author: civerachb-cpr

clearpath_platform_description/urdf/a300/attachments/observer_arch.urdf.xacro

@@ -27,21 +27,44 @@
 
     <!--
         Sensor mounting points
-        TODO: get these measurements from Rhys
     -->
 
     <link name="${name}_left_antenna_mount" />
-    <joint name="${name}_left_antenna_joint" type="fixed">
+    <joint name="${name}_left_antenna_mount_joint" type="fixed">
       <parent link="${name}_link" />
       <child link="${name}_left_antenna_mount" />
-      <origin xyz="0 0.26 0.45" rpy="0 0 0" />
+      <origin xyz="0 0.260 0.44536" rpy="0 0 0" />
     </joint>
 
     <link name="${name}_right_antenna_mount" />
-    <joint name="${name}_right_antenna_joint" type="fixed">
+    <joint name="${name}_right_antenna_mount_joint" type="fixed">
       <parent link="${name}_link" />
       <child link="${name}_right_antenna_mount" />
-      <origin xyz="0 -0.26 0.45" rpy="0 0 0" />
+      <origin xyz="0 -0.260 0.44536" rpy="0 0 0" />
     </joint>
+
+    <link name="${name}_lidar_mount" />
+    <joint name="${name}_lidar_mount_joint" type="fixed">
+      <parent link="${name}_link" />
+      <child link="${name}_lidar_mount" />
+      <origin xyz="0.130 0 0.30256" rpy="3.14159 0 0" />
+    </joint>
+
+    <!-- front-facing camera suspended under sensor arch -->
+    <link name="${name}_front_camera_mount" />
+    <joint name="${name}_front_camera_mount_joint" type="fixed">
+      <parent link="${name}_link" />
+      <child link="${name}_front_camera_mount" />
+      <origin xyz="0.055 0 0.40896" rpy="3.14159 0 0" />
+    </joint>
+
+    <!-- rear-facing camera suspended under sensor arch -->
+    <link name="${name}_front_camera_mount" />
+    <joint name="${name}_front_camera_mount_joint" type="fixed">
+      <parent link="${name}_link" />
+      <child link="${name}_front_camera_mount" />
+      <origin xyz="-0.071992 0 0.4036838" rpy="0 -0.6021385919380436 3.14159" />
+    </joint>
+
   </xacro:macro>
 </robot>

clearpath_platform_description/urdf/a300/attachments/observer_backpack.urdf.xacro

@@ -46,26 +46,37 @@
     <!--
         Mount points for sensors, other accessories
     -->
+
+    <!-- center of the adjustable track on top -->
     <link name="${name}_center_mount" />
     <joint name="${name}_center_joint" type="fixed">
       <parent link="${name}_enclosure_link" />
       <child link="${name}_center_mount" />
-      <origin xyz="0 0 0.4" rpy="0 0 0" />
+      <origin xyz="0 0 0.4074593" rpy="0 0 0" />
     </joint>
 
-    <link name="${name}_front_face_mount" />
-    <joint name="${name}_front_face_link" type="fixed">
-      <parent link="${name}_center_mount" />
-      <child link="${name}_front_face_mount" />
-      <origin xyz="0.33 0 -0.08" rpy="0 0 0" />
+    <!-- standard rear-mounted antennas -->
+    <link name="${name}_antenna_mount" />
+    <joint name="${name}_antenna_mount_link" type="fixed">
+      <parent link="${name}_enclosure_link" />
+      <child link="${name}_antenna_mount" />
+      <origin xyz="-0.4028 0 0.4074593" rpy="0 0 0" />
     </joint>
 
-    <link name="${name}_rear_face_mount" />
-    <joint name="${name}_rear_face_link" type="fixed">
-      <parent link="${name}_center_mount" />
-      <child link="${name}_rear_face_mount" />
-      <origin xyz="-0.33 0 -0.08" rpy="0 0 3.1459" />
+    <!-- rear-mounted fixposition -->
+    <link name="${name}_ins_mount" />
+    <joint name="${name}_ins_mouint_link" type="fixed">
+      <parent link="${name}_enclosure_link" />
+      <child link="${name}_ins_mount" />
+      <origin xyz="-0.4 0.0 0.3192593" rpy="3.14159 0 0" />
     </joint>
 
+    <!-- front-mounted robin -->
+    <link name="${name}_front_lidar_mount" />
+    <joint name="${name}_front_lidar_mount_link" type="fixed">
+      <parent link="${name}_enclosure_link" />
+      <child link="${name}_front_lidar_mount" />
+      <origin xyz="0.40 0 0.2708593" rpy="0 0 0" />
+    </joint>
   </xacro:macro>
 </robot>