Documentation

The package currently contains the following xacro macros:

• hokuyo_utm_30lx.urdf.xacro - Macro for adding a Hokuyo UTM-30LX scanner to a URDF model. Adds both the required gazebo plugin as well as a low poly mesh representation.

• sonar_sensor.urdf.xacro - Macro for adding a sonar/ultrasound sensor to a URDF model. Adds both the required gazebo plugin as well as a low poly mesh representation.

• generic_camera.urdf.xacro - Macro for adding a generic camera sensor to a URDF model. Adds both the required gazebo plugin as well as box primitive based geometry representation.

• kinect_camera.urdf.xacro - Macro for adding a Microsoft Kinect RGBD camera to a URDF model.

• asus_camera.urdf.xacro - Macro for adding an Asus Xtion Pro to a URDF model.