Version: ROS 2 Jazzy

bulkhead_default

platform:
  attachments:
    - name: bulkhead
      type: w200.bulkhead
      model: default
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

Attach accessories to the bulkhead by setting the accessory's parent parameter to bulkhead_mount. The mount is displayed as an axis in the image above.