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added base_footprint in description for slam

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Björn Ellensohn 2023-06-06 10:11:50 +02:00
parent 656c158471
commit e1be35f4a4
1 changed files with 14 additions and 4 deletions
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18
urdf/diffbot_description.urdf.xacro
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@ -17,12 +17,12 @@
<xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the each joint --> <xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the each joint -->
<!-- dummy link - used for ros2 control so it stops complaining? --> <!-- dummy link - used for ros2 control so it stops complaining? -->
<link name="dummy"> <link name="${prefix}dummy">
</link> </link>
<joint name="dummy_joint" type="fixed"> <joint name="${prefix}dummy_joint" type="fixed">
<parent link="dummy"/> <parent link="${prefix}dummy"/>
<child link="base_link"/> <child link="${prefix}base_link"/>
</joint> </joint>
<!-- Base Link --> <!-- Base Link -->
@ -60,6 +60,16 @@
<dynamics damping="0.2"/> <dynamics damping="0.2"/>
</joint> </joint>
<!-- BASE_FOOTPRINT LINK (Used for SLAM: Should be oin the ground beneath the robo like the shadow) -->
<joint name="${prefix}base_footprint_joint" type="fixed">
<parent link="${prefix}base_link"/>
<child link="${prefix}base_footprint"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="${prefix}base_footprint">
</link>
<!-- left wheel Link --> <!-- left wheel Link -->
<link name="${prefix}left_wheel"> <link name="${prefix}left_wheel">
<collision> <collision>