ellensohn/cps_loki_description
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Björn Ellensohn 2023-06-05 13:47:24 +02:00
parent 6f9121f5ed
commit 656c158471
1 changed files with 9 additions and 3 deletions
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12
urdf/diffbot_description.urdf.xacro
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@ -16,6 +16,15 @@
<xacro:property name="caster_wheel_radius" value="0.04" /> <xacro:property name="caster_wheel_radius" value="0.04" />
<xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the each joint --> <xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the each joint -->
<!-- dummy link - used for ros2 control so it stops complaining? -->
<link name="dummy">
</link>
<joint name="dummy_joint" type="fixed">
<parent link="dummy"/>
<child link="base_link"/>
</joint>
<!-- Base Link --> <!-- Base Link -->
<link name="${prefix}base_link"> <link name="${prefix}base_link">
<collision> <collision>
@ -218,6 +227,3 @@
</xacro:macro> </xacro:macro>
</robot> </robot>