ellensohn/cps_loki_description
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bjoernellens1 2023-11-21 10:07:39 +01:00 committed by GitHub
parent 5395fa6a49
commit 2ba31fad0c
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1 changed files with 2 additions and 2 deletions
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urdf/diffbot_description.urdf.xacro
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@ -70,7 +70,7 @@
</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 + 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 + 0.01} ${wheel_offset_z}" rpy="${pi/2} 0 0" />
@ -101,7 +101,7 @@
</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 - chassis_offset} ${wheel_offset_y + 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 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />