ellensohn/cps_rmp220_support
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Your Name 2025-01-13 12:46:27 +01:00
parent e8e089e36c
commit 9d99b806f1
1 changed files with 27 additions and 3 deletions
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30
description/robot_core.xacro
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@ -228,12 +228,12 @@
<joint name="laser_joint" type="fixed"> <joint name="laser_joint" type="fixed">
<parent link="chassis"/> <parent link="chassis"/>
<child link="laser_frame"/> <child link="laser"/>
<origin xyz="${chassis_length/2 - 0.15285} 0 ${chassis_height/2 + 0.030}" rpy="0 0 ${pi}"/> <origin xyz="${chassis_length/2 - 0.15285} 0 ${chassis_height/2 + 0.030}" rpy="0 0 ${pi}"/>
</joint> </joint>
<link name="laser_frame"> <link name="laser">
<visual> <visual>
<geometry> <geometry>
<cylinder radius="0.04" length="0.05"/> <cylinder radius="0.04" length="0.05"/>
@ -250,8 +250,32 @@
</xacro:inertial_sphere> </xacro:inertial_sphere>
</link> </link>
<gazebo reference="laser_frame"> <gazebo reference="laser">
<material>Gazebo/White</material> <material>Gazebo/White</material>
</gazebo> </gazebo>
<joint name="imu_joint" type="fixed">
<parent link="chassis"/>
<child link="imu"/>
<origin xyz="${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>