ellensohn/bot_mini_description
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bjoernellens1 2023-11-21 10:04:04 +01:00 committed by GitHub
parent c7d69ad4d7
commit 5395fa6a49
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1 changed files with 2 additions and 2 deletions
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urdf/diffbot_description.urdf.xacro
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@ -73,7 +73,7 @@
<joint name="${prefix}right_wheel_joint" type="continuous"> <joint name="${prefix}right_wheel_joint" type="continuous">
<parent link="${prefix}chassis"/> <parent link="${prefix}chassis"/>
<child link="${prefix}right_wheel"/> <child link="${prefix}right_wheel"/>
<origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="${pi/2} 0 0" /> <origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="${pi/2} 0 0" />
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
<limit effort="1" velocity="20" /> <limit effort="1" velocity="20" />
<joint_properties friction="0.0"/> <joint_properties friction="0.0"/>
@ -104,7 +104,7 @@
<joint name="${prefix}left_wheel_joint" type="continuous"> <joint name="${prefix}left_wheel_joint" type="continuous">
<parent link="${prefix}chassis"/> <parent link="${prefix}chassis"/>
<child link="${prefix}left_wheel"/> <child link="${prefix}left_wheel"/>
<origin xyz="${chassis_length/2 - chassis_offset} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" /> <origin xyz="${chassis_length/2 - chassis_offset} ${wheel_offset_y + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
</joint> </joint>