ellensohn/bot_mini_description
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base: ellensohn:c0e2874c1f6c6076fd3d714c3d7957fb6c749d8c
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ellensohn:main
ellensohn:imu
ellensohn:nav2
ellensohn:old_urdf
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compare: ellensohn:595271f2e9826372e8943acabd0e97d768e621bd
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ellensohn:main
ellensohn:imu
ellensohn:nav2
ellensohn:old_urdf

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1 changed files with 6 additions and 6 deletions
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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_mass" value="0.02"/>
<xacro:property name="wheel_offset_x" value="0.285748"/>
<xacro:property name="wheel_offset_y" value="0.13"/>
<xacro:property name="wheel_offset_y" value="0.33675"/>
<xacro:property name="wheel_offset_z" value="-0.035"/>
<xacro:property name="caster_wheel_radius" value="0.04"/>
<xacro:property name="caster_wheel_mass" value="0.01"/>
@ -70,10 +70,10 @@
</gazebo>
<!-- RIGHT WHEEL -->
<joint name="${prefix}right_wheel_joint" type="fixed">
<joint name="${prefix}right_wheel_joint" type="continuous">
<parent link="${prefix}chassis"/>
<child link="${prefix}right_wheel"/>
<origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y + wheel_thickness/2} ${wheel_offset_z}" rpy="${pi/2} 0 0" />
<origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="${pi/2} 0 0" />
<axis xyz="0 0 -1"/>
<limit effort="1" velocity="20" />
<joint_properties friction="0.0"/>
@ -101,10 +101,10 @@
</gazebo>
<!-- LEFT WHEEL -->
<joint name="${prefix}left_wheel_joint" type="fixed">
<joint name="${prefix}left_wheel_joint" type="continuous">
<parent link="${prefix}chassis"/>
<child link="${prefix}left_wheel"/>
<origin xyz="${chassis_length/2 - chassis_offset} ${wheel_offset_y + wheel_thickness/2} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />
<origin xyz="${chassis_length/2 - 0.075} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />
<axis xyz="0 0 1"/>
</joint>
@ -163,7 +163,7 @@
<joint name="${prefix}laser_joint" type="fixed">
<parent link="${prefix}chassis"/>
<child link="${prefix}laser_frame"/>
<origin xyz="${chassis_length/2 -0.07} 0 0.10" rpy="0 0 ${pi}"/>
<origin xyz="-0.07 0 0.10" rpy="0 0 ${pi}"/>
</joint>
<link name="${prefix}laser_frame">