ellensohn/bot_mini_description
1
0
Fork 0
mirror of https://github.com/bjoernellens1/bot_mini_description.git synced 2024-11-23 07:35:07 +00:00
Code Issues Packages Projects Releases Wiki Activity

Compare commits

base: ellensohn:595271f2e9826372e8943acabd0e97d768e621bd
Branches Tags
ellensohn:main
ellensohn:imu
ellensohn:nav2
ellensohn:old_urdf
..
compare: ellensohn:5dbf1b25186d65494c32c12d4ccccdee07c41862
Branches Tags
ellensohn:main
ellensohn:imu
ellensohn:nav2
ellensohn:old_urdf

No commits in common. "595271f2e9826372e8943acabd0e97d768e621bd" and "5dbf1b25186d65494c32c12d4ccccdee07c41862" have entirely different histories.
595271f2e9 ... 5dbf1b2518

1 changed files with 40 additions and 2 deletions
Show Stats Expand all files Collapse all files

42
urdf/diffbot_description.urdf.xacro
View File

@ -24,6 +24,43 @@
<xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/> <xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/>
<xacro:property name="chassis_offset" value="0.065"/> <xacro:property name="chassis_offset" value="0.065"/>
<!-- Materials -->
<!-- <material name="white">
<color rgba="1 1 1 1" />
</material>
<material name="orange">
<color rgba="1 0.3 0.1 1"/>
</material>
<material name="blue">
<color rgba="0.2 0.2 1 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
<material name="grey2">
<color rgba="0.9 0.9 0.9 1.0"/>
</material>
<material name="lightGrey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material> -->
<!-- Base Link --> <!-- Base Link -->
<link name="${prefix}base_link"> <link name="${prefix}base_link">
</link> </link>
@ -43,7 +80,7 @@
<joint name="${prefix}chassis_joint" type="fixed"> <joint name="${prefix}chassis_joint" type="fixed">
<parent link="${prefix}base_link"/> <parent link="${prefix}base_link"/>
<child link="${prefix}chassis"/> <child link="${prefix}chassis"/>
<origin xyz="${-chassis_length/2 + chassis_offset} 0 ${wheel_radius - wheel_offset_z}"/> <origin xyz="${-chassis_length/2 + 0.065} 0 ${wheel_radius - wheel_offset_z}"/>
</joint> </joint>
<link name="${prefix}chassis"> <link name="${prefix}chassis">
@ -163,7 +200,7 @@
<joint name="${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 - 0.15285} 0 ${chassis_height/2 + 0.030}" rpy="0 0 ${pi}"/>
</joint> </joint>
<link name="${prefix}laser_frame"> <link name="${prefix}laser_frame">
@ -211,6 +248,7 @@
</inertial> </inertial>
</link> </link>
<!-- Camera Joint --> <!-- Camera Joint -->
<joint name="${prefix}camera_joint" type="fixed"> <joint name="${prefix}camera_joint" type="fixed">
<origin xyz="${chassis_length / 2 - chassis_offset} 0 0" rpy="0 0 ${PI}" /> <origin xyz="${chassis_length / 2 - chassis_offset} 0 0" rpy="0 0 ${PI}" />