ellensohn/bot_mini_description
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ellensohn:main
ellensohn:imu
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ellensohn:old_urdf
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compare: ellensohn:c0e2874c1f6c6076fd3d714c3d7957fb6c749d8c
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ellensohn:main
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ellensohn:old_urdf

5 Commits
595271f2e9 ... c0e2874c1f

Author SHA1 Message Date
bjoernellens1
c0e2874c1f
update 2023-11-21 10:28:16 +01:00
bjoernellens1
2ba31fad0c
update 2023-11-21 10:07:39 +01:00
bjoernellens1
5395fa6a49
update 2023-11-21 10:04:04 +01:00
bjoernellens1
c7d69ad4d7
update 2023-11-21 10:00:28 +01:00
bjoernellens1
0ee6890d7b
update 2023-11-21 09:52:49 +01:00
1 changed files with 6 additions and 6 deletions
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12
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"/>
@ -70,10 +70,10 @@
</gazebo> </gazebo>
<!-- RIGHT WHEEL --> <!-- RIGHT WHEEL -->
<joint name="${prefix}right_wheel_joint" type="continuous"> <joint name="${prefix}right_wheel_joint" type="fixed">
<parent link="${prefix}chassis"/> <parent link="${prefix}chassis"/>
<child link="${prefix}right_wheel"/> <child link="${prefix}right_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="${chassis_length/2 - 0.075} -${wheel_offset_y + wheel_thickness/2} ${wheel_offset_z}" rpy="${pi/2} 0 0" />
<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"/>
@ -101,10 +101,10 @@
</gazebo> </gazebo>
<!-- LEFT WHEEL --> <!-- LEFT WHEEL -->
<joint name="${prefix}left_wheel_joint" type="continuous"> <joint name="${prefix}left_wheel_joint" type="fixed">
<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 + wheel_thickness/2} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
</joint> </joint>
@ -163,7 +163,7 @@
<joint name="${prefix}laser_joint" type="fixed"> <joint name="${prefix}laser_joint" type="fixed">
<parent link="${prefix}chassis"/> <parent link="${prefix}chassis"/>
<child link="${prefix}laser_frame"/> <child link="${prefix}laser_frame"/>
<origin xyz="-0.07 0 0.10" rpy="0 0 ${pi}"/> <origin xyz="${chassis_length/2 -0.07} 0 0.10" rpy="0 0 ${pi}"/>
</joint> </joint>
<link name="${prefix}laser_frame"> <link name="${prefix}laser_frame">