You can add the solid of the camera as usual with <visual> tags, but since it is a commercial device, you can a get better look by using a realistic three-dimensional CAD model supplied by the manufacturer or made by someone else in the open source community. The URDF definition is as follows:
<link name="camera"> <visual> <origin xyz="0.25 0 0.05" rpy="0 1.570795 0" /> <geometry> <mesh filename="package://virtual_slam/meshes/piCamera.stl" scale="0.5 0.5 0.5"/> </geometry> </visual> ...</link><joint name="joint_camera" type="fixed"> <parent link="base_link"/> <child link="camera"/> <origin xyz="0 0 0" rpy="0 0 0" /> <axis xyz="1 0 0" /></joint>
We can see two blocks in the preceding snippet: the <link> element to specify ...
