From 8a4c668a11f143bb6df602de1c5634d3efbe6ff2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Thu, 17 Aug 2023 10:27:48 +0200
Subject: [PATCH] updated wheel joint position in relation to lidar

---
 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 a97224e..bb661f2 100644
--- a/description/robot_core.xacro
+++ b/description/robot_core.xacro
@@ -78,7 +78,7 @@
     <joint name="chassis_joint" type="fixed">
         <parent link="base_link"/>
         <child link="chassis"/>
-        <origin xyz="${-chassis_length/2 + 0.070} 0 ${wheel_offset_z}"/>
+        <origin xyz="${-chassis_length/2 + 0.075} 0 ${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 - 0.070} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} 0" rpy="-${pi/2} 0 0" />
+        <origin xyz="${chassis_length/2 - 0.075} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} 0" rpy="-${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="${chassis_length/2 - 0.070} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} 0" rpy="${pi/2} 0 0" />
+        <origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} 0" rpy="${pi/2} 0 0" />
         <axis xyz="0 0 -1"/>
     </joint>
 
@@ -229,7 +229,7 @@
     <joint name="lidar_joint" type="fixed">
         <parent link="base_link"/>
         <child link="laser_frame"/>
-        <origin xyz="${0.070-0.155} 0 ${chassis_height + 0.030}" rpy="0 0 ${pi}"/>
+        <origin xyz="${0.075 - 0.15285} 0 ${chassis_height + 0.030}" rpy="0 0 ${pi}"/>
     </joint>