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update laser joint pos

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Björn Ellensohn 2023-06-22 10:23:33 +02:00
parent e57cac1e82
commit 4d01164c79
1 changed files with 4 additions and 4 deletions
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8
urdf/diffbot_description.urdf.xacro
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@ -174,7 +174,7 @@
<!-- laser_link --> <!-- laser_link -->
<link name="${prefix}laser_link"> <link name="${prefix}laser_link">
<visual> <visual>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="180 -0 0" />
<geometry> <geometry>
<mesh filename="package://bot_mini_description/mesh/laser_link_visual.stl"/> <mesh filename="package://bot_mini_description/mesh/laser_link_visual.stl"/>
</geometry> </geometry>
@ -183,13 +183,13 @@
</material> </material>
</visual> </visual>
<collision> <collision>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="180 -0 0" />
<geometry> <geometry>
<mesh filename="package://bot_mini_description/mesh/laser_link_collision.stl"/> <mesh filename="package://bot_mini_description/mesh/laser_link_collision.stl"/>
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin xyz="8.0502568807622093404e-21 2.7755575615628913511e-17 -0.01526549883836261258" rpy="0 0 0"/> <origin xyz="8.0502568807622093404e-21 2.7755575615628913511e-17 -0.01526549883836261258" rpy="180 0 0"/>
<mass value="0.065307030550339775776" /> <mass value="0.065307030550339775776" />
<inertia ixx="1.578111853789072904e-05" ixy="-4.8590457654361857326e-53" ixz="1.0816309858643350309e-52" iyy="1.5781118537890654501e-05" iyz="9.8088682514084147142e-38" izz="1.9760068210357054465e-05" /> <inertia ixx="1.578111853789072904e-05" ixy="-4.8590457654361857326e-53" ixz="1.0816309858643350309e-52" iyy="1.5781118537890654501e-05" iyz="9.8088682514084147142e-38" izz="1.9760068210357054465e-05" />
</inertial> </inertial>
@ -197,7 +197,7 @@
<!-- laser_joint --> <!-- laser_joint -->
<joint name="${prefix}laser_joint" type="fixed"> <joint name="${prefix}laser_joint" type="fixed">
<origin xyz="${base_length /2 +0.015 - base_offset} 0 ${z_offset * -1}" rpy="0 0 0"/> <origin xyz="${base_length /2 -0.015 - base_offset} 0 ${z_offset * -1 +0.05}" rpy="0 0 0"/>
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}laser_link" /> <child link="${prefix}laser_link" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>