From 91079ab3a0a0c0ab6001f28dd1e4bbf64d5a1afe Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 28 Jan 2021 15:57:39 +0000
Subject: [PATCH] Remove dependency to realsense2_description
Replace camera models by boxes.
---
urdf/talos_full_v2_with_lidar.urdf | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/urdf/talos_full_v2_with_lidar.urdf b/urdf/talos_full_v2_with_lidar.urdf
index 811d079..7edc39b 100644
--- a/urdf/talos_full_v2_with_lidar.urdf
+++ b/urdf/talos_full_v2_with_lidar.urdf
@@ -272,8 +272,8 @@
<visual>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.0149 -0.0175 0"/>
<geometry>
- <!-- <box size="${d435_cam_width} ${d435_cam_height} ${d435_cam_depth}"/> -->
- <mesh filename="package://realsense2_description/meshes/d435.dae"/>
+ <box size="0.090 0.025 0.02505"/>
+ <!--mesh filename="package://realsense2_description/meshes/d435.dae"/>-->
<!--<mesh filename="package://realsense2_description/meshes/d435/d435.dae" />-->
</geometry>
<material name="head_d435_camera_aluminum"/>
@@ -490,14 +490,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://realsense2_description/meshes/t265.stl"/>
+ <box size="0.090 0.025 0.02505"/>
</geometry>
<material name="head_t265_camera_aluminum"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://realsense2_description/meshes/t265.stl"/>
+ <box size="0.090 0.025 0.02505"/>
</geometry>
</collision>
<inertial>
--
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