ellensohn/bot_mini_description
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bjoernellens1 2023-11-20 11:43:51 +01:00 committed by GitHub
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urdf/diffbot_description.urdf.xacro
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@ -68,7 +68,6 @@
</joint> </joint>
<!-- right wheel joint --> <!-- right wheel joint -->
<!-- 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 - wheel_len /2} ${z_offset}" rpy="${PI / 2} 0 0" /> <origin xyz="0 ${-0.125 - wheel_len /2} ${z_offset}" rpy="${PI / 2} 0 0" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
@ -102,7 +101,6 @@
</inertial> </inertial>
</link> </link>
<!-- 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 + wheel_len /2} ${z_offset}" rpy="${PI / 2} 0 0" /> <origin xyz="0 ${0.125 + wheel_len /2} ${z_offset}" rpy="${PI / 2} 0 0" />