From c20ca8f1fe5e519474c6c8d10b1ce5c719dd7a65 Mon Sep 17 00:00:00 2001
From: xiaoliangstd <2303335747@qq.com>
Date: Wed, 27 Nov 2024 17:52:25 +0800
Subject: [PATCH] add go2 front_camera link

---
 robots/go2_description/urdf/go2_description.urdf | 14 ++++++++++++++
 robots/go2_description/xacro/robot.xacro         | 10 ++++++++++
 2 files changed, 24 insertions(+)

diff --git a/robots/go2_description/urdf/go2_description.urdf b/robots/go2_description/urdf/go2_description.urdf
index a79c93d..0c91557 100644
--- a/robots/go2_description/urdf/go2_description.urdf
+++ b/robots/go2_description/urdf/go2_description.urdf
@@ -1358,4 +1358,18 @@ Stephen Brawner (brawner@gmail.com)
     <axis
       xyz="0 0 0" />
   </joint>
+  <joint 
+    name="front_camera_joint" 
+    type="fixed">
+    <origin 
+      rpy="0 0 0" 
+      xyz="0.32715 -0.00003 0.04297"/>
+      <parent 
+        link="base"/>
+      <child 
+      link="front_camera"/>
+  </joint>
+  <link 
+    name="front_camera">
+  </link>
 </robot>
\ No newline at end of file
diff --git a/robots/go2_description/xacro/robot.xacro b/robots/go2_description/xacro/robot.xacro
index c03da97..e250ffe 100755
--- a/robots/go2_description/xacro/robot.xacro
+++ b/robots/go2_description/xacro/robot.xacro
@@ -91,6 +91,16 @@
             </geometry>
         </collision>
     </link>
+
+    <joint name="front_camera_joint" type="fixed">
+        <parent link="trunk"/>
+        <child link="front_camera"/>
+        <origin rpy="0 0 0" xyz="0.32715 -0.00003 0.04297"/>
+    </joint>
+
+    <link name="front_camera">
+    </link>
+
     <!--
     <joint name="load_joint" type="fixed">
         <parent link="trunk"/>