ellensohn/cps_loki_description
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bjoernellens1 2023-11-20 12:40:22 +01:00 committed by GitHub
parent fbd28c02cb
commit 951ac2ab9e
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1 changed files with 2 additions and 1 deletions
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urdf/diffbot_description.urdf.xacro
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@ -22,6 +22,7 @@
<xacro:property name="caster_wheel_mass" value="0.01"/> <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_x" value="0.075"/>
<xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/> <xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/>
<xacro:property name="chassis_offset" value="0.065"/>
<!-- Materials --> <!-- Materials -->
<material name="white"> <material name="white">
@ -250,7 +251,7 @@
<!-- Camera Joint --> <!-- Camera Joint -->
<joint name="${prefix}camera_joint" type="fixed"> <joint name="${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" /> <parent link="${prefix}base_link" />
<child link="${prefix}camera_link" /> <child link="${prefix}camera_link" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>