ellensohn/bot_mini_description
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Björn Ellensohn 2023-06-13 08:26:24 +02:00
parent e187af1b89
commit 62ceb127f7
1 changed files with 5 additions and 5 deletions
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urdf/diffbot_description.urdf.xacro
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@ -67,7 +67,7 @@
<!-- right wheel joint -->
<joint name="${prefix}right_wheel_joint" type="continuous">
<origin xyz="-0.12500000000000002776 -2.7755575615628913511e-17 -0.060000000000000004718" rpy="-1.570796326794896558 -2.2204460492503130808e-16 -1.57079632679489678" />
<origin xyz="6.9388939039072283776e-17 -0.125 -0.05999999999999999778" rpy="-1.57079632679489678 -1.1660544913393859426e-16 6.9388939039072283776e-17" />
<parent link="${prefix}base_link" />
<child link="${prefix}right_wheel" />
<axis xyz="0 0 1"/>
@ -101,7 +101,7 @@
<!-- left wheel joint -->
<joint name="${prefix}left_wheel_joint" type="continuous">
<origin xyz="0.125 1.3877787807814456755e-17 -0.05999999999999999778" rpy="1.57079632679489678 -1.1102230246251567869e-16 -1.570796326794896558" />
<origin xyz="-5.5511151231257827021e-17 0.12500000000000005551 -0.060000000000000011657" rpy="1.570796326794896558 -1.6964751660994284333e-16 1.7347234759768063549e-16" />
<parent link="${prefix}base_link" />
<child link="${prefix}left_wheel" />
<axis xyz="0 0 1" />
@ -135,7 +135,7 @@
<!-- caster wheel joint -->
<joint name="${prefix}caster_wheel_joint" type="fixed">
<origin xyz="-4.8640783256844265209e-17 0.29000000000000003553 -0.019999999999999990008" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
<origin xyz="-0.29000000000000003553 -1.236754434711827603e-16 -0.019999999999999969191" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
<parent link="${prefix}base_link" />
<child link="${prefix}caster_wheel" />
<axis xyz="0 0 1"/>
@ -193,7 +193,7 @@
<!-- laser_joint -->
<joint name="${prefix}laser_joint" type="fixed">
<origin xyz="-2.778062350693125085e-18 -0.024999999999999994449 0.024999999999999997918" rpy="-3.141592653589793116 -6.1629758220391519929e-33 1.1102230246251560474e-16" />
<origin xyz="0.025000000000000001388 2.7755575615628913511e-17 0.025000000000000008327" rpy="-3.141592653589793116 -6.1629758220391519929e-33 1.1102230246251560474e-16" />
<parent link="${prefix}base_link" />
<child link="${prefix}laser_link" />
<axis xyz="0 0 1"/>
@ -228,7 +228,7 @@
<!-- Camera Joint -->
<joint name="${prefix}camera_joint" type="fixed">
<origin xyz="-4.4452289071905681794e-18 -0.040000000000000007772 -1.3877787807814456755e-17" rpy="6.1062266354383530837e-16 1.1102230246251567869e-16 3.141592653589793116" />
<origin xyz="0.040000000000000007772 1.3877787807814456755e-17 -4.4408920985006270245e-18" rpy="6.1062266354383530837e-16 1.1102230246251567869e-16 3.141592653589793116" />
<parent link="${prefix}base_link" />
<child link="${prefix}camera_link" />
<axis xyz="0 0 1"/>