From fffcf09b194054e12f3c09cd66a8d05a6bfac50f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Mon, 12 Jun 2023 10:16:46 +0200
Subject: [PATCH] update: continuous joints

---
 urdf/diffbot_description.urdf.xacro | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 2f1b0d1..819c6bc 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -162,7 +162,7 @@
     </link>
 
     <!-- right wheel joint -->
-    <joint name="${prefix}right_wheel_joint" type="revolute">
+    <joint name="${prefix}right_wheel_joint" type="continuous">
       <origin xyz="-0.12499999999999993061 -0.58900000000000007905 -0.10500000000000000999" rpy="-1.570796326794896558 -2.2204460492503130808e-16 -1.57079632679489678" />
 <parent link="${prefix}base_link" />
 <child link="${prefix}right_wheel_link" />
@@ -196,7 +196,7 @@
     </link>
 
     <!-- left wheel joint -->
-    <joint name="${prefix}left_wheel_joint" type="revolute">
+    <joint name="${prefix}left_wheel_joint" type="continuous">
       <origin xyz="0.12500000000000013878 -0.58900000000000007905 -0.10500000000000003775" rpy="1.57079632679489678 -1.1102230246251567869e-16 -1.570796326794896558" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}left_wheel_link" />
@@ -230,7 +230,7 @@
     </link>
 
     <!-- caster wheel joint -->
-    <joint name="${prefix}caster_wheel_joint" type="revolute">
+    <joint name="${prefix}caster_wheel_joint" type="continuous">
         <origin xyz="5.3368019332749957491e-17 -0.29900000000000009903 -0.064999999999999974465" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <parent link="${prefix}base_link" />
         <child link="${prefix}caster_wheel_link" />
@@ -348,7 +348,7 @@
     </link>
 
     <!-- laser_joint -->
-    <joint name="${prefix}laser_joint" type="revolute">
+    <joint name="${prefix}laser_joint" type="continuous">
         <origin xyz="8.9609515272227915335e-17 -0.61400000000000021227 -0.019999999999999972661" rpy="-3.141592653589793116 -6.1629758220391519929e-33 1.1102230246251560474e-16" />
         <parent link="${prefix}base_link" />
         <child link="${prefix}laser_link" />
@@ -383,7 +383,7 @@
 
 
     <!-- Camera Joint -->
-    <joint name="${prefix}camera_joint" type="revolute">
+    <joint name="${prefix}camera_joint" type="continuous">
         <origin xyz="9.7569399001892381731e-17 -0.6290000000000002256 -0.045000000000000005274" rpy="6.1062266354383530837e-16 1.1102230246251567869e-16 3.141592653589793116" />
         <parent link="${prefix}base_link" />
         <child link="${prefix}camera_link" />