ellensohn/cps_loki_description
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Björn Ellensohn 2023-06-13 08:57:41 +02:00
parent 62ceb127f7
commit fe80c48344
1 changed files with 4 additions and 2 deletions
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urdf/diffbot_description.urdf.xacro
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@ -66,7 +66,8 @@
</joint> </joint>
<!-- right wheel joint --> <!-- right wheel joint -->
<joint name="${prefix}right_wheel_joint" type="continuous"> <!-- fixed wheel joint for testing, type was continuous -->
<joint name="${prefix}right_wheel_joint" type="fixed">
<origin xyz="6.9388939039072283776e-17 -0.125 -0.05999999999999999778" rpy="-1.57079632679489678 -1.1660544913393859426e-16 6.9388939039072283776e-17" /> <origin xyz="6.9388939039072283776e-17 -0.125 -0.05999999999999999778" rpy="-1.57079632679489678 -1.1660544913393859426e-16 6.9388939039072283776e-17" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}right_wheel" /> <child link="${prefix}right_wheel" />
@ -99,8 +100,9 @@
</inertial> </inertial>
</link> </link>
<!-- fixed wheel joint for testing, type was continuous -->
<!-- left wheel joint --> <!-- left wheel joint -->
<joint name="${prefix}left_wheel_joint" type="continuous"> <joint name="${prefix}left_wheel_joint" type="fixed">
<origin xyz="-5.5511151231257827021e-17 0.12500000000000005551 -0.060000000000000011657" rpy="1.570796326794896558 -1.6964751660994284333e-16 1.7347234759768063549e-16" /> <origin xyz="-5.5511151231257827021e-17 0.12500000000000005551 -0.060000000000000011657" rpy="1.570796326794896558 -1.6964751660994284333e-16 1.7347234759768063549e-16" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}left_wheel" /> <child link="${prefix}left_wheel" />