ellensohn/cps_loki_description
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Björn Ellensohn 2023-06-12 10:57:49 +02:00
parent fffcf09b19
commit 1e5d616a17
2 changed files with 311 additions and 311 deletions
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14
urdf/diffbot_description.urdf.xacro
View File

@ -164,12 +164,12 @@
<!-- right wheel joint --> <!-- right wheel joint -->
<joint name="${prefix}right_wheel_joint" type="continuous"> <joint name="${prefix}right_wheel_joint" type="continuous">
<origin xyz="-0.12499999999999993061 -0.58900000000000007905 -0.10500000000000000999" rpy="-1.570796326794896558 -2.2204460492503130808e-16 -1.57079632679489678" /> <origin xyz="-0.12499999999999993061 -0.58900000000000007905 -0.10500000000000000999" rpy="-1.570796326794896558 -2.2204460492503130808e-16 -1.57079632679489678" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}right_wheel_link" /> <child link="${prefix}right_wheel_link" />
<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"/>
</joint> </joint>
<!-- right wheel Link --> <!-- right wheel Link -->
<link name="${prefix}right_wheel_link"> <link name="${prefix}right_wheel_link">
@ -206,7 +206,7 @@
</joint> </joint>
<!-- left wheel Link --> <!-- left wheel Link -->
<link name="left_wheel_link"> <link name="${prefix}left_wheel_link">
<visual> <visual>
<origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" /> <origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
<geometry> <geometry>

2
urdf/odrive.ros2_control.xacro
View File

@ -26,7 +26,7 @@
<joint name="${joint1_name}"> <joint name="${joint1_name}">
<param name="serial_number">${serial_number}</param> <param name="serial_number">${serial_number}</param>
<param name="axis">1</param> <param name="axis">1</param>
<param name="enable_watchdog">1</param> <param name="enable_watchdog">0</param>
<param name="watchdog_timeout">0.1</param> <param name="watchdog_timeout">0.1</param>
</joint> </joint>
</xacro:if> </xacro:if>