ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-09-06 09:04:14 +02:00
parent 33c51ab5f1
commit 57ce31e5dd
1 changed files with 2 additions and 2 deletions
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4
description/robot_core.xacro
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@ -109,7 +109,7 @@
<joint name="left_wheel_joint" type="continuous"> <joint name="left_wheel_joint" type="continuous">
<parent link="chassis"/> <parent link="chassis"/>
<child link="left_wheel"/> <child link="left_wheel"/>
<origin xyz="${chassis_length/2 - 0.075} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} wheel_offset_z" rpy="-${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"/> <axis xyz="0 0 1"/>
</joint> </joint>
@ -142,7 +142,7 @@
<joint name="right_wheel_joint" type="continuous"> <joint name="right_wheel_joint" type="continuous">
<parent link="chassis"/> <parent link="chassis"/>
<child link="right_wheel"/> <child link="right_wheel"/>
<origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} wheel_offset_z" 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"/> <axis xyz="0 0 -1"/>
</joint> </joint>