ellensohn/cps_loki_description
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update: fixes

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Björn Ellensohn 2023-06-12 13:12:18 +02:00
parent 578925fdb9
commit 46d7b39d60
1 changed files with 3 additions and 17 deletions
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20
urdf/diffbot_description.urdf.xacro
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@ -163,20 +163,6 @@
<!-- Adding base_footprint for mapping (Needed by slam toolbox) --> <!-- Adding base_footprint for mapping (Needed by slam toolbox) -->
<link name="${prefix}base_footprint"> <link name="${prefix}base_footprint">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
</geometry>
</collision>
<visual>
<origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/>
<geometry>
<box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
</geometry>
<material name="orange"/>
</visual>
</link> </link>
<joint name="${prefix}base_footprint_joint" type="fixed"> <joint name="${prefix}base_footprint_joint" type="fixed">
@ -253,7 +239,7 @@
</link> </link>
<!-- caster wheel joint --> <!-- caster wheel joint -->
<joint name="${prefix}caster_wheel_joint" type="continuous"> <joint name="${prefix}caster_wheel_joint" type="fixed">
<origin xyz="5.3368019332749957491e-17 -0.29900000000000009903 -0.064999999999999974465" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" /> <origin xyz="5.3368019332749957491e-17 -0.29900000000000009903 -0.064999999999999974465" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}caster_wheel_link" /> <child link="${prefix}caster_wheel_link" />
@ -371,7 +357,7 @@
</link> </link>
<!-- laser_joint --> <!-- laser_joint -->
<joint name="${prefix}laser_joint" type="continuous"> <joint name="${prefix}laser_joint" type="fixed">
<origin xyz="8.9609515272227915335e-17 -0.61400000000000021227 -0.019999999999999972661" rpy="-3.141592653589793116 -6.1629758220391519929e-33 1.1102230246251560474e-16" /> <origin xyz="8.9609515272227915335e-17 -0.61400000000000021227 -0.019999999999999972661" rpy="-3.141592653589793116 -6.1629758220391519929e-33 1.1102230246251560474e-16" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}laser_link" /> <child link="${prefix}laser_link" />
@ -406,7 +392,7 @@
<!-- Camera Joint --> <!-- Camera Joint -->
<joint name="${prefix}camera_joint" type="continuous"> <joint name="${prefix}camera_joint" type="fixed">
<origin xyz="9.7569399001892381731e-17 -0.6290000000000002256 -0.045000000000000005274" rpy="6.1062266354383530837e-16 1.1102230246251567869e-16 3.141592653589793116" /> <origin xyz="9.7569399001892381731e-17 -0.6290000000000002256 -0.045000000000000005274" rpy="6.1062266354383530837e-16 1.1102230246251567869e-16 3.141592653589793116" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}camera_link" /> <child link="${prefix}camera_link" />