ellensohn/cps_rmp220_support
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This commit is contained in:
Björn Ellensohn 2023-09-06 09:03:24 +02:00
parent 383f267f79
commit 33c51ab5f1
1 changed files with 4 additions and 4 deletions
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8
description/robot_core.xacro
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@ -13,7 +13,7 @@
<xacro:property name="wheel_mass" value="4.0"/>
<xacro:property name="wheel_offset_x" value="0.285748"/>
<xacro:property name="wheel_offset_y" value="0.33675"/>
<xacro:property name="wheel_offset_z" value="0.01"/>
<xacro:property name="wheel_offset_z" value="-0.035"/>
<xacro:property name="caster_wheel_radius" value="0.01"/>
<xacro:property name="caster_wheel_mass" value="0.01"/>
<xacro:property name="caster_wheel_offset_x" value="0.075"/>
@ -78,7 +78,7 @@
<joint name="chassis_joint" type="fixed">
<parent link="base_link"/>
<child link="chassis"/>
<origin xyz="${-chassis_length/2 + 0.075} 0 ${wheel_radius}"/>
<origin xyz="${-chassis_length/2 + 0.075} 0 ${wheel_radius - wheel_offset_z}"/>
</joint>
<link name="chassis">
@ -109,7 +109,7 @@
<joint name="left_wheel_joint" type="continuous">
<parent link="chassis"/>
<child link="left_wheel"/>
<origin xyz="${chassis_length/2 - 0.075} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} 0" rpy="-${pi/2} 0 0" />
<origin xyz="${chassis_length/2 - 0.075} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} wheel_offset_z" rpy="-${pi/2} 0 0" />
<axis xyz="0 0 1"/>
</joint>
@ -142,7 +142,7 @@
<joint name="right_wheel_joint" type="continuous">
<parent link="chassis"/>
<child link="right_wheel"/>
<origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} 0" rpy="${pi/2} 0 0" />
<origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} wheel_offset_z" rpy="${pi/2} 0 0" />
<axis xyz="0 0 -1"/>
</joint>