ellensohn/bot_mini_description
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Björn Ellensohn 2023-06-01 11:47:47 +02:00
parent 0ba885cb2e
commit 6f9121f5ed
2 changed files with 2 additions and 4 deletions
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2
urdf/diffbot_description.urdf.xacro
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@ -217,8 +217,6 @@
</joint> </joint>
</xacro:macro> </xacro:macro>
<!-- Include the macro to create the diffbot -->
<xacro:diffbot prefix=""/>
</robot> </robot>

4
urdf/diffbot_description.urdf.xacro.bak
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@ -1,7 +1,7 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="" params="prefix"> <xacro:macro name="diffbot" params="prefix">
<!-- Constants for robot dimensions --> <!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/> <xacro:property name="PI" value="3.1415926535897931"/>
@ -81,7 +81,7 @@
<joint name="${prefix}right_wheel_joint" type="continuous"> <joint name="${prefix}right_wheel_joint" type="continuous">
<parent link="${prefix}base_link"/> <parent link="${prefix}base_link"/>
<child link="${prefix}right_wheel"/> <child link="${prefix}right_wheel"/>
<origin xyz="0 -0.07 ${z_offset}" rpy="0 0 0"/> <origin xyz="0 0.07 ${z_offset}" rpy="0 0 0"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<dynamics damping="0.2"/> <dynamics damping="0.2"/>
</joint> </joint>