ellensohn/bot_mini_description
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Björn Ellensohn 2023-06-13 11:33:51 +02:00
parent 9ba911389f
commit 1f58dcc134
1 changed files with 2 additions and 2 deletions
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urdf/diffbot_description.urdf.xacro
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@ -70,7 +70,7 @@
<!-- right wheel joint --> <!-- right wheel joint -->
<!-- fixed wheel joint for testing, type was continuous --> <!-- fixed wheel joint for testing, type was continuous -->
<joint name="${prefix}right_wheel_joint" type="continuous"> <joint name="${prefix}right_wheel_joint" type="continuous">
<origin xyz="0 -0.125 ${z_offset}" rpy="0 0 0" /> <origin xyz="0 -0.125 ${z_offset}" rpy="${PI} 0 0" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}right_wheel" /> <child link="${prefix}right_wheel" />
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
@ -105,7 +105,7 @@
<!-- fixed wheel joint for testing, type was continuous --> <!-- fixed wheel joint for testing, type was continuous -->
<!-- left wheel joint --> <!-- left wheel joint -->
<joint name="${prefix}left_wheel_joint" type="continuous"> <joint name="${prefix}left_wheel_joint" type="continuous">
<origin xyz="0 0.125 ${z_offset}" rpy="0 0 0" /> <origin xyz="0 0.125 ${z_offset}" rpy="${PI} 0 0" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}left_wheel" /> <child link="${prefix}left_wheel" />
<axis xyz="0 0 -1" /> <axis xyz="0 0 -1" />