ellensohn/bot_mini_description
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bjoernellens1 2023-11-21 10:00:28 +01:00 committed by GitHub
parent 0ee6890d7b
commit c7d69ad4d7
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1 changed files with 2 additions and 2 deletions
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urdf/diffbot_description.urdf.xacro
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@ -16,7 +16,7 @@
<xacro:property name="wheel_thickness" value="0.020"/> <xacro:property name="wheel_thickness" value="0.020"/>
<xacro:property name="wheel_mass" value="0.02"/> <xacro:property name="wheel_mass" value="0.02"/>
<xacro:property name="wheel_offset_x" value="0.285748"/> <xacro:property name="wheel_offset_x" value="0.285748"/>
<xacro:property name="wheel_offset_y" value="0.33675"/> <xacro:property name="wheel_offset_y" value="0.13"/>
<xacro:property name="wheel_offset_z" value="-0.035"/> <xacro:property name="wheel_offset_z" value="-0.035"/>
<xacro:property name="caster_wheel_radius" value="0.04"/> <xacro:property name="caster_wheel_radius" value="0.04"/>
<xacro:property name="caster_wheel_mass" value="0.01"/> <xacro:property name="caster_wheel_mass" value="0.01"/>
@ -104,7 +104,7 @@
<joint name="${prefix}left_wheel_joint" type="continuous"> <joint name="${prefix}left_wheel_joint" type="continuous">
<parent link="${prefix}chassis"/> <parent link="${prefix}chassis"/>
<child link="${prefix}left_wheel"/> <child link="${prefix}left_wheel"/>
<origin xyz="${chassis_length/2 - 0.075} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" /> <origin xyz="${chassis_length/2 - chassis_offset} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
</joint> </joint>