ellensohn/bot_mini_description
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bjoernellens1 2023-11-20 17:46:35 +01:00 committed by GitHub
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commit 966b49d3d8
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1 changed files with 2 additions and 40 deletions
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urdf/diffbot_description.urdf.xacro
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@ -23,43 +23,6 @@
<xacro:property name="caster_wheel_offset_x" value="0.075"/> <xacro:property name="caster_wheel_offset_x" value="0.075"/>
<xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/> <xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/>
<xacro:property name="chassis_offset" value="0.065"/> <xacro:property name="chassis_offset" value="0.065"/>
<!-- Materials -->
<!-- <material name="white">
<color rgba="1 1 1 1" />
</material>
<material name="orange">
<color rgba="1 0.3 0.1 1"/>
</material>
<material name="blue">
<color rgba="0.2 0.2 1 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
<material name="grey2">
<color rgba="0.9 0.9 0.9 1.0"/>
</material>
<material name="lightGrey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material> -->
<!-- Base Link --> <!-- Base Link -->
<link name="${prefix}base_link"> <link name="${prefix}base_link">
@ -80,7 +43,7 @@
<joint name="${prefix}chassis_joint" type="fixed"> <joint name="${prefix}chassis_joint" type="fixed">
<parent link="${prefix}base_link"/> <parent link="${prefix}base_link"/>
<child link="${prefix}chassis"/> <child link="${prefix}chassis"/>
<origin xyz="${-chassis_length/2 + 0.065} 0 ${wheel_radius - wheel_offset_z}"/> <origin xyz="${-chassis_length/2 + chassis_offset} 0 ${wheel_radius - wheel_offset_z}"/>
</joint> </joint>
<link name="${prefix}chassis"> <link name="${prefix}chassis">
@ -200,7 +163,7 @@
<joint name="${prefix}laser_joint" type="fixed"> <joint name="${prefix}laser_joint" type="fixed">
<parent link="${prefix}chassis"/> <parent link="${prefix}chassis"/>
<child link="${prefix}laser_frame"/> <child link="${prefix}laser_frame"/>
<origin xyz="${chassis_length/2 - 0.15285} 0 ${chassis_height/2 + 0.030}" rpy="0 0 ${pi}"/> <origin xyz="-0.07 0 10" rpy="0 0 ${pi}"/>
</joint> </joint>
<link name="${prefix}laser_frame"> <link name="${prefix}laser_frame">
@ -248,7 +211,6 @@
</inertial> </inertial>
</link> </link>
<!-- Camera Joint --> <!-- Camera Joint -->
<joint name="${prefix}camera_joint" type="fixed"> <joint name="${prefix}camera_joint" type="fixed">
<origin xyz="${chassis_length / 2 - chassis_offset} 0 0" rpy="0 0 ${PI}" /> <origin xyz="${chassis_length / 2 - chassis_offset} 0 0" rpy="0 0 ${PI}" />