From 33c51ab5f13e6245a270859361c3d9385e233112 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 6 Sep 2023 09:03:24 +0200
Subject: [PATCH] update

---
 description/robot_core.xacro | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/description/robot_core.xacro b/description/robot_core.xacro
index fa9833e..a1402df 100644
--- a/description/robot_core.xacro
+++ b/description/robot_core.xacro
@@ -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>