<?xml version="1.0"?><sdf version="1.12"><model name="sentinel"><link name="base_link"><inertial><mass>5</mass><inertia><ixx>0.2</ixx><iyy>0.2</iyy><izz>0.1</izz></inertia></inertial><visual name="mast"><pose>0 0 .85 0 0 0</pose><geometry><cylinder><radius>.04</radius><length>1.7</length></cylinder></geometry><material><ambient>0.5 0.6 0.65 1</ambient><diffuse>0.5 0.6 0.65 1</diffuse></material></visual></link><joint name="mount" type="fixed"><parent>world</parent><child>base_link</child></joint><link name="pan_link"><pose>0 0 1.8 0 0 0</pose><inertial><mass>1</mass><inertia><ixx>0.01</ixx><iyy>0.01</iyy><izz>0.01</izz></inertia></inertial></link><joint name="pan_joint" type="revolute"><parent>base_link</parent><child>pan_link</child><axis><xyz>0 0 1</xyz><limit><lower>-1e16</lower><upper>1e16</upper><effort>5</effort><velocity>.5</velocity></limit></axis></joint><link name="camera_link"><pose>0 0 1.8 0 0 0</pose><inertial><mass>1</mass><inertia><ixx>0.01</ixx><iyy>0.01</iyy><izz>0.01</izz></inertia></inertial><visual name="head"><geometry><box><size>.30 .18 .20</size></box></geometry><material><ambient>0.8 0.85 0.87 1</ambient><diffuse>0.8 0.85 0.87 1</diffuse></material></visual><sensor name="camera" type="camera"><pose>.16 0 0 0 0 0</pose><always_on>true</always_on><update_rate>15</update_rate><topic>/sentinel_1/camera</topic><camera><horizontal_fov>1.22173</horizontal_fov><image><width>640</width><height>360</height><format>R8G8B8</format></image><clip><near>.05</near><far>100</far></clip></camera></sensor></link><joint name="tilt_joint" type="revolute"><parent>pan_link</parent><child>camera_link</child><axis><xyz>0 1 0</xyz><limit><lower>-.8</lower><upper>.8</upper><effort>5</effort><velocity>.3</velocity></limit></axis></joint></model></sdf>
