From 9ba911389f485bef3129c246a0ef9ba746454bf5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 13 Jun 2023 11:21:04 +0200
Subject: [PATCH] update

---
 urdf/diffbot_description.urdf.xacro | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 273057b..8710c96 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -19,7 +19,8 @@
     <!-- arbitrary value for caster wheel mass -->
     <xacro:property name="caster_wheel_radius" value="0.04" />
     <xacro:property name="z_offset" value="-${base_height/2}" />
-    <!-- Space btw top of beam and the each joint -->
+    <!-- Offset of main Axis to center of base body (Axis of rotation for steering) -->
+    <xacro:property name="base_offset" value="0.11" />
 
     <!-- dummy link - used for ros2 control so it stops complaining?
     <link name="${prefix}dummy_link">
@@ -50,7 +51,7 @@
         </geometry>
       </collision>
       <inertial>
-        <origin xyz="-2.5368985414583082317e-17 0.083896718007622009261 -0.0037261823981863751235" rpy="0 0 0"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
         <mass value="8.4123950268139715547" />
         <inertia ixx="0.090166990291185383777" ixy="4.7429179749238352248e-18" ixz="1.4209310488728267579e-18" iyy="0.055481261106946747064" iyz="-0.01112159061226025876" izz="0.13051099377067149065" />
       </inertial>
@@ -69,7 +70,7 @@
     <!-- right wheel joint -->
     <!-- fixed wheel joint for testing, type was continuous -->
     <joint name="${prefix}right_wheel_joint" type="continuous">
-      <origin xyz="$(base_length/2) -0.125 ${z_offset}" rpy="0 0 0" />
+      <origin xyz="0 -0.125 ${z_offset}" rpy="0 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}right_wheel" />
       <axis xyz="0 0 -1"/>
@@ -104,7 +105,7 @@
     <!-- fixed wheel joint for testing, type was continuous -->
     <!-- left wheel joint -->
     <joint name="${prefix}left_wheel_joint" type="continuous">
-      <origin xyz="${(base_length/2)} 0.125 ${z_offset}" rpy="0 0 0" />
+      <origin xyz="0 0.125 ${z_offset}" rpy="0 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}left_wheel" />
       <axis xyz="0 0 -1" />
@@ -138,7 +139,7 @@
 
     <!-- caster wheel joint -->
     <joint name="${prefix}caster_wheel_joint" type="fixed">
-      <origin xyz="-${(base_length/2)} 0 -0.02" rpy="0 0 ${PI}" />
+      <origin xyz="-${base_length / 2 + base_offset} 0 -0.02" rpy="0 0 ${PI}" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}caster_wheel" />
       <axis xyz="0 0 1"/>
@@ -196,7 +197,7 @@
 
     <!-- laser_joint -->
     <joint name="${prefix}laser_joint" type="fixed">
-      <origin xyz="${(base_length/2)-0.035} 0 0" rpy="0 0 0"/>
+      <origin xyz="${base_length /2 -0.035 - base_offset} 0 0" rpy="0 0 0"/>
       <parent link="${prefix}base_link" />
       <child link="${prefix}laser_link" />
       <axis xyz="0 0 1"/>
@@ -231,7 +232,7 @@
 
     <!-- Camera Joint -->
     <joint name="${prefix}camera_joint" type="fixed">
-      <origin xyz="${base_length/2} 0 0" rpy="0 0 ${PI}" />
+      <origin xyz="${base_length / 2 - base_offset} 0 0" rpy="0 0 ${PI}" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}camera_link" />
       <axis xyz="0 0 1"/>