From 951ac2ab9e2eae4c93c35252d9bf6bb5dbca208c Mon Sep 17 00:00:00 2001
From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com>
Date: Mon, 20 Nov 2023 12:40:22 +0100
Subject: [PATCH] update

---
 urdf/diffbot_description.urdf.xacro | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index d86e4e0..0ec1044 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -22,6 +22,7 @@
     <xacro:property name="caster_wheel_mass" value="0.01"/>
     <xacro:property name="caster_wheel_offset_x" value="0.075"/>
     <xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/>
+    <xacro:property name="chassis_offset" value="0.065"/>
 
     <!-- Materials -->
     <material name="white">
@@ -250,7 +251,7 @@
 
     <!-- Camera Joint -->
     <joint name="${prefix}camera_joint" type="fixed">
-      <origin xyz="${base_length / 2 - base_offset} 0 0" rpy="0 0 ${PI}" />
+      <origin xyz="${chassis_length / 2 - chassis_offset} 0 0" rpy="0 0 ${PI}" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}camera_link" />
       <axis xyz="0 0 1"/>