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Added custom base, with option to enable/disable it in the urdf #2

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Added custom base, with option to enable/disable it in the urdf #2

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Juancams
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Now there is a use_base parameter to load the custom base into the urdf.

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Greetings ^^

@jmguerreroh
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There are some problems with the urdf, please, fix them.

@Juancams
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I just solved the errors that appear from inertia and I had missed them hehe.

I'll note the other error we discussed with optical, which must surely be in the depthai_description urdf. Accept and close this PR if you want and I'll try to find and fix it in another one.

^^

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@Juancams @jmguerreroh