ellensohn/cps_rmp220_support
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Your Name 2025-01-13 12:48:49 +01:00
parent 9d99b806f1
commit 38c26daf38
2 changed files with 2 additions and 26 deletions
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4
description/imu.xacro
View File

@ -7,11 +7,11 @@
<origin xyz="${chassis_length/2 - 0.15285} 0 0" rpy="0 0 0"/> <origin xyz="${chassis_length/2 - 0.15285} 0 0" rpy="0 0 0"/>
</joint> </joint>
<link name="imu_link"> <link name="imu">
</link> </link>
<gazebo reference="imu_link"> <gazebo reference="imu">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
</gazebo> </gazebo>

24
description/robot_core.xacro
View File

@ -254,28 +254,4 @@
<material>Gazebo/White</material> <material>Gazebo/White</material>
</gazebo> </gazebo>
<joint name="imu_joint" type="fixed">
<parent link="chassis"/>
<child link="imu"/>
<origin xyz="${chassis_length/2 - 0.15285} 0 ${chassis_height/2 + 0.030}" rpy="0 0 ${pi}"/>
</joint>
<link name="imu">
<visual>
<geometry>
<cylinder radius="0.04" length="0.05"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<sphere radius="${caster_wheel_radius}"/>
</geometry>
</collision>
<xacro:inertial_sphere mass="${caster_wheel_mass}" radius="${caster_wheel_radius}">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_sphere>
</link>
</robot> </robot>