From ed2c5df2b05634ea3c6bceb0386ad6212f42d1a4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 13 Jun 2023 10:19:00 +0200
Subject: [PATCH 1/6] update

---
 urdf/diffbot_description.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 01dc898..6a93031 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -195,7 +195,7 @@
 
     <!-- laser_joint -->
     <joint name="${prefix}laser_joint" type="fixed">
-      <origin xyz="0.025000000000000001388 2.7755575615628913511e-17 0.025000000000000008327" rpy="-3.141592653589793116 -6.1629758220391519929e-33 1.1102230246251560474e-16" />
+      <origin xyz="0 ${base_length/2} ${z_offset}" rpy="0 0 0"/>
       <parent link="${prefix}base_link" />
       <child link="${prefix}laser_link" />
       <axis xyz="0 0 1"/>

From 0cc7afdd6a42a0f0a857f7b238a5855ef939ac93 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 13 Jun 2023 11:04:47 +0200
Subject: [PATCH 2/6] update

---
 urdf/diffbot_description.urdf.xacro | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 6a93031..273057b 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -7,10 +7,10 @@
     <xacro:property name="PI" value="3.1415926535897931"/>
     <xacro:property name="base_mass" value="0.3" />
     <!-- arbitrary value for base mass -->
-    <xacro:property name="base_width" value="0.25" />
+    <xacro:property name="base_width" value="0.26" />
     <!-- Updated wheel spacing to 25cm -->
     <xacro:property name="base_length" value="0.34" />
-    <xacro:property name="base_height" value="0.1" />
+    <xacro:property name="base_height" value="0.123" />
     <xacro:property name="wheel_mass" value="0.3" />
     <!-- arbitrary value for wheel mass -->
     <xacro:property name="wheel_len" value="0.020" />
@@ -35,7 +35,7 @@
     <!-- Base Link -->
     <link name="${prefix}base_link">
       <visual>
-        <origin xyz="0 0 0" rpy="0 -0 0" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
           <mesh filename="file://$(find bot_mini_description)/mesh/base_link_visual.stl"/>
         </geometry>
@@ -63,12 +63,13 @@
     <joint name="${prefix}base_footprint_joint" type="fixed">
       <parent link="${prefix}base_link" />
       <child link="${prefix}base_footprint" />
+      <origin xyz="0 0 ${z_offset}" rpy="0 0 0" />
     </joint>
 
     <!-- right wheel joint -->
     <!-- fixed wheel joint for testing, type was continuous -->
     <joint name="${prefix}right_wheel_joint" type="continuous">
-      <origin xyz="6.9388939039072283776e-17 -0.125 -0.05999999999999999778" rpy="-1.57079632679489678 -1.1660544913393859426e-16 6.9388939039072283776e-17" />
+      <origin xyz="$(base_length/2) -0.125 ${z_offset}" rpy="0 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}right_wheel" />
       <axis xyz="0 0 -1"/>
@@ -103,7 +104,7 @@
     <!-- fixed wheel joint for testing, type was continuous -->
     <!-- left wheel joint -->
     <joint name="${prefix}left_wheel_joint" type="continuous">
-      <origin xyz="-5.5511151231257827021e-17 0.12500000000000005551 -0.060000000000000011657" rpy="1.570796326794896558 -1.6964751660994284333e-16 1.7347234759768063549e-16" />
+      <origin xyz="${(base_length/2)} 0.125 ${z_offset}" rpy="0 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}left_wheel" />
       <axis xyz="0 0 -1" />
@@ -137,7 +138,7 @@
 
     <!-- caster wheel joint -->
     <joint name="${prefix}caster_wheel_joint" type="fixed">
-      <origin xyz="-0.29000000000000003553 -1.236754434711827603e-16 -0.019999999999999969191" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+      <origin xyz="-${(base_length/2)} 0 -0.02" rpy="0 0 ${PI}" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}caster_wheel" />
       <axis xyz="0 0 1"/>
@@ -195,7 +196,7 @@
 
     <!-- laser_joint -->
     <joint name="${prefix}laser_joint" type="fixed">
-      <origin xyz="0 ${base_length/2} ${z_offset}" rpy="0 0 0"/>
+      <origin xyz="${(base_length/2)-0.035} 0 0" rpy="0 0 0"/>
       <parent link="${prefix}base_link" />
       <child link="${prefix}laser_link" />
       <axis xyz="0 0 1"/>
@@ -230,7 +231,7 @@
 
     <!-- Camera Joint -->
     <joint name="${prefix}camera_joint" type="fixed">
-      <origin xyz="0.040000000000000007772 1.3877787807814456755e-17 -4.4408920985006270245e-18" rpy="6.1062266354383530837e-16 1.1102230246251567869e-16 3.141592653589793116" />
+      <origin xyz="${base_length/2} 0 0" rpy="0 0 ${PI}" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}camera_link" />
       <axis xyz="0 0 1"/>

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 3/6] 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"/>

From 1f58dcc13435f8b11c6baaa33645f80b4bcda5e3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 13 Jun 2023 11:33:51 +0200
Subject: [PATCH 4/6] update

---
 urdf/diffbot_description.urdf.xacro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 8710c96..9cbe2d9 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -70,7 +70,7 @@
     <!-- right wheel joint -->
     <!-- fixed wheel joint for testing, type was continuous -->
     <joint name="${prefix}right_wheel_joint" type="continuous">
-      <origin xyz="0 -0.125 ${z_offset}" rpy="0 0 0" />
+      <origin xyz="0 -0.125 ${z_offset}" rpy="${PI} 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}right_wheel" />
       <axis xyz="0 0 -1"/>
@@ -105,7 +105,7 @@
     <!-- fixed wheel joint for testing, type was continuous -->
     <!-- left wheel joint -->
     <joint name="${prefix}left_wheel_joint" type="continuous">
-      <origin xyz="0 0.125 ${z_offset}" rpy="0 0 0" />
+      <origin xyz="0 0.125 ${z_offset}" rpy="${PI} 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}left_wheel" />
       <axis xyz="0 0 -1" />

From 4fb7cbf4ea66b8466690828b8def1aa51de383af Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 13 Jun 2023 11:36:16 +0200
Subject: [PATCH 5/6] update

---
 urdf/diffbot_description.urdf.xacro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 9cbe2d9..ecf7939 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -70,7 +70,7 @@
     <!-- right wheel joint -->
     <!-- fixed wheel joint for testing, type was continuous -->
     <joint name="${prefix}right_wheel_joint" type="continuous">
-      <origin xyz="0 -0.125 ${z_offset}" rpy="${PI} 0 0" />
+      <origin xyz="0 -0.125 ${z_offset}" rpy="${PI / 2} 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}right_wheel" />
       <axis xyz="0 0 -1"/>
@@ -105,7 +105,7 @@
     <!-- fixed wheel joint for testing, type was continuous -->
     <!-- left wheel joint -->
     <joint name="${prefix}left_wheel_joint" type="continuous">
-      <origin xyz="0 0.125 ${z_offset}" rpy="${PI} 0 0" />
+      <origin xyz="0 0.125 ${z_offset}" rpy="${PI / 2} 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}left_wheel" />
       <axis xyz="0 0 -1" />

From 967e535bbd8093430dd2d36d36b73cf2013134f6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 13 Jun 2023 11:38:26 +0200
Subject: [PATCH 6/6] update

---
 urdf/diffbot_description.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index ecf7939..23cb691 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -73,7 +73,7 @@
       <origin xyz="0 -0.125 ${z_offset}" rpy="${PI / 2} 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}right_wheel" />
-      <axis xyz="0 0 -1"/>
+      <axis xyz="0 0 1"/>
       <limit effort="1" velocity="20" />
       <joint_properties friction="0.0"/>
     </joint>