<?xml version="1.0"?><robot name="sentinel" version="1.2"><link name="base_link"><inertial><mass value="5"/><inertia ixx="0.2" ixy="0" ixz="0" iyy="0.2" iyz="0" izz="0.1"/></inertial><visual><origin xyz="0 0 .85"/><geometry><cylinder radius=".04" length="1.7"/></geometry></visual></link><link name="pan_link"><inertial><mass value="1"/><inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/></inertial></link><joint name="pan_joint" type="continuous"><parent link="base_link"/><child link="pan_link"/><origin xyz="0 0 1.8"/><axis xyz="0 0 1"/><limit effort="5" velocity=".5" acceleration="1" deceleration="1.5" jerk="5"/></joint><link name="camera_link"><inertial><mass value="1"/><inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/></inertial><visual><geometry><box size=".30 .18 .20"/></geometry></visual></link><joint name="tilt_joint" type="revolute"><parent link="pan_link"/><child link="camera_link"/><axis xyz="0 1 0"/><limit lower="-.8" upper=".8" effort="5" velocity=".3" acceleration="1" deceleration="1.5" jerk="5"/></joint><link name="camera_optical_frame"/><joint name="optical_frame_fixed" type="fixed"><parent link="camera_link"/><child link="camera_optical_frame"/><origin rpy="-1.57079632679 0 -1.57079632679"/></joint></robot>