head_tf_wiki - IRS-group/isr_tiago_docs GitHub Wiki

Inside the robot (tiago_lan) the package tiago_description has the head urdf (urdf/head/head.urdf.xacro).

This head urdf is called by tiago urdf (robots/tiago.urdf.xacro).

The actual transform parameters are in the package and file tiago_description_calibration/urdf/calibration/calibration_constants.urdf.xacro.

In this file the properties camera_position_x/y/z define the transform and the values should be changed here.