From 52bec7436cc2077c80f388c1686765a25adf0062 Mon Sep 17 00:00:00 2001
From: targabor <tar.gabor14@gmail.com>
Date: Sun, 11 Jan 2026 10:15:05 +0000
Subject: [PATCH] feat: add front camera to URDF

---
 urdf/go2_description.urdf       | 7 +++++++
 urdf/go2_description.urdf.xacro | 8 ++++++++
 2 files changed, 15 insertions(+)

diff --git a/urdf/go2_description.urdf b/urdf/go2_description.urdf
index eeac215..9bcb783 100644
--- a/urdf/go2_description.urdf
+++ b/urdf/go2_description.urdf
@@ -80,6 +80,13 @@ Stephen Brawner (brawner@gmail.com)
     <axis
       xyz="0 0 0" />
   </joint>
+  <link name="front_camera"/>
+  <joint name="front_camera_joint" type="fixed">
+    <origin xyz="0.045 0 0.03" rpy="-1.5708 0 -1.5708" />
+    <parent link="Head_upper" />
+    <child link="front_camera" />
+    <axis xyz="0 0 0" />
+  </joint>
   <link
     name="Head_lower">
     <inertial>
diff --git a/urdf/go2_description.urdf.xacro b/urdf/go2_description.urdf.xacro
index 1b6deb2..ee114aa 100644
--- a/urdf/go2_description.urdf.xacro
+++ b/urdf/go2_description.urdf.xacro
@@ -51,6 +51,14 @@
     </collision>
   </link>
 
+  <link name="front_camera"/>
+  <joint name="front_camera_joint" type="fixed">
+    <origin xyz="0.045 0 0.03" rpy="-1.5708 0 -1.5708" />
+    <parent link="Head_upper" />
+    <child link="front_camera" />
+    <axis xyz="0 0 0" />
+  </joint>
+
   <link name="Head_lower">
     <inertial>
       <origin xyz="0 0 0" rpy="0 0 0" />