ellensohn/bot_mini_description
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base: ellensohn:595271f2e9826372e8943acabd0e97d768e621bd
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ellensohn:main
ellensohn:imu
ellensohn:nav2
ellensohn:old_urdf
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compare: ellensohn:5dbf1b25186d65494c32c12d4ccccdee07c41862
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ellensohn:main
ellensohn:imu
ellensohn:nav2
ellensohn:old_urdf

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1 changed files with 40 additions and 2 deletions
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urdf/diffbot_description.urdf.xacro
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@ -24,6 +24,43 @@
<xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/>
<xacro:property name="chassis_offset" value="0.065"/>
<!-- Materials -->
<!-- <material name="white">
<color rgba="1 1 1 1" />
</material>
<material name="orange">
<color rgba="1 0.3 0.1 1"/>
</material>
<material name="blue">
<color rgba="0.2 0.2 1 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
<material name="grey2">
<color rgba="0.9 0.9 0.9 1.0"/>
</material>
<material name="lightGrey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material> -->
<!-- Base Link -->
<link name="${prefix}base_link">
</link>
@ -43,7 +80,7 @@
<joint name="${prefix}chassis_joint" type="fixed">
<parent link="${prefix}base_link"/>
<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 ${wheel_radius - wheel_offset_z}"/>
</joint>
<link name="${prefix}chassis">
@ -163,7 +200,7 @@
<joint name="${prefix}laser_joint" type="fixed">
<parent link="${prefix}chassis"/>
<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 ${pi}"/>
</joint>
<link name="${prefix}laser_frame">
@ -211,6 +248,7 @@
</inertial>
</link>
<!-- Camera Joint -->
<joint name="${prefix}camera_joint" type="fixed">
<origin xyz="${chassis_length / 2 - chassis_offset} 0 0" rpy="0 0 ${PI}" />