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fixes for wheels

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Björn Ellensohn 2023-06-12 13:28:06 +02:00
parent 46d7b39d60
commit ab5666dff4
1 changed files with 6 additions and 6 deletions
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12
urdf/diffbot_description.urdf.xacro
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@ -174,14 +174,14 @@
<joint name="${prefix}right_wheel_joint" type="continuous"> <joint name="${prefix}right_wheel_joint" type="continuous">
<origin xyz="-0.12499999999999993061 -0.58900000000000007905 -0.10500000000000000999" rpy="-1.570796326794896558 -2.2204460492503130808e-16 -1.57079632679489678" /> <origin xyz="-0.12499999999999993061 -0.58900000000000007905 -0.10500000000000000999" rpy="-1.570796326794896558 -2.2204460492503130808e-16 -1.57079632679489678" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}right_wheel_link" /> <child link="${prefix}right_wheel" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="1" velocity="20" /> <limit effort="1" velocity="20" />
<joint_properties friction="0.0"/> <joint_properties friction="0.0"/>
</joint> </joint>
<!-- right wheel Link --> <!-- right wheel Link -->
<link name="${prefix}right_wheel_link"> <link name="${prefix}right_wheel">
<visual> <visual>
<origin xyz="-0.10999999999999998668 0.060000000000000011657 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" /> <origin xyz="-0.10999999999999998668 0.060000000000000011657 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
<geometry> <geometry>
@ -208,14 +208,14 @@
<joint name="${prefix}left_wheel_joint" type="continuous"> <joint name="${prefix}left_wheel_joint" type="continuous">
<origin xyz="0.12500000000000013878 -0.58900000000000007905 -0.10500000000000003775" rpy="1.57079632679489678 -1.1102230246251567869e-16 -1.570796326794896558" /> <origin xyz="0.12500000000000013878 -0.58900000000000007905 -0.10500000000000003775" rpy="1.57079632679489678 -1.1102230246251567869e-16 -1.570796326794896558" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}left_wheel_link" /> <child link="${prefix}left_wheel" />
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<limit effort="1" velocity="20" /> <limit effort="1" velocity="20" />
<joint_properties friction="0.0" /> <joint_properties friction="0.0" />
</joint> </joint>
<!-- left wheel Link --> <!-- left wheel Link -->
<link name="${prefix}left_wheel_link"> <link name="${prefix}left_wheel">
<visual> <visual>
<origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" /> <origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
<geometry> <geometry>
@ -242,14 +242,14 @@
<joint name="${prefix}caster_wheel_joint" type="fixed"> <joint name="${prefix}caster_wheel_joint" type="fixed">
<origin xyz="5.3368019332749957491e-17 -0.29900000000000009903 -0.064999999999999974465" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" /> <origin xyz="5.3368019332749957491e-17 -0.29900000000000009903 -0.064999999999999974465" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}caster_wheel_link" /> <child link="${prefix}caster_wheel" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="1" velocity="20" /> <limit effort="1" velocity="20" />
<joint_properties friction="0.0"/> <joint_properties friction="0.0"/>
</joint> </joint>
<!-- caster wheel Link --> <!-- caster wheel Link -->
<link name="${prefix}caster_wheel_link"> <link name="${prefix}caster_wheel">
<visual> <visual>
<origin xyz="1.1302212892091925974e-17 5.5511151231257827021e-17 0" rpy="3.141592653589793116 -8.3802055560433424155e-17 -3.141592653589793116" /> <origin xyz="1.1302212892091925974e-17 5.5511151231257827021e-17 0" rpy="3.141592653589793116 -8.3802055560433424155e-17 -3.141592653589793116" />
<geometry> <geometry>