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update laser joint pos

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Björn Ellensohn 2023-06-22 10:41:34 +02:00
parent 64b0d2c5c4
commit b815ef597d
1 changed files with 7 additions and 7 deletions
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14
urdf/diffbot_description.urdf.xacro
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@ -70,10 +70,10 @@
<!-- right wheel joint --> <!-- right wheel joint -->
<!-- fixed wheel joint for testing, type was continuous --> <!-- fixed wheel joint for testing, type was continuous -->
<joint name="${prefix}right_wheel_joint" type="continuous"> <joint name="${prefix}right_wheel_joint" type="continuous">
<origin xyz="0 -0.125 ${z_offset}" rpy="${PI / 2} 0 0" /> <origin xyz="0 {-0.125 - wheel_len /2} ${z_offset}" rpy="${PI / 2} 0 0" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}right_wheel" /> <child link="${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>
@ -81,7 +81,7 @@
<!-- right wheel Link --> <!-- right wheel Link -->
<link name="${prefix}right_wheel"> <link name="${prefix}right_wheel">
<visual> <visual>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 -{wheel_len /2} 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="package://bot_mini_description/mesh/wheel_link_visual.stl"/> <mesh filename="package://bot_mini_description/mesh/wheel_link_visual.stl"/>
</geometry> </geometry>
@ -105,10 +105,10 @@
<!-- fixed wheel joint for testing, type was continuous --> <!-- fixed wheel joint for testing, type was continuous -->
<!-- left wheel joint --> <!-- left wheel joint -->
<joint name="${prefix}left_wheel_joint" type="continuous"> <joint name="${prefix}left_wheel_joint" type="continuous">
<origin xyz="0 0.125 ${z_offset}" rpy="${PI / 2} 0 0" /> <origin xyz="0 {0.125 + wheel_len /2} ${z_offset}" rpy="${PI / 2} 0 0" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}left_wheel" /> <child link="${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>
@ -116,7 +116,7 @@
<!-- left wheel Link --> <!-- left wheel Link -->
<link name="${prefix}left_wheel"> <link name="${prefix}left_wheel">
<visual> <visual>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 {wheel_len /2} 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="package://bot_mini_description/mesh/wheel_link_2_visual.stl"/> <mesh filename="package://bot_mini_description/mesh/wheel_link_2_visual.stl"/>
</geometry> </geometry>
@ -125,7 +125,7 @@
</material> </material>
</visual> </visual>
<collision> <collision>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 {wheel_len /2} 0" rpy="0 -0 0" />
<geometry> <geometry>
<mesh filename="package://bot_mini_description/mesh/wheel_link_2_collision.stl"/> <mesh filename="package://bot_mini_description/mesh/wheel_link_2_collision.stl"/>
</geometry> </geometry>