ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-08-03 10:04:49 +02:00
parent 65613aa84a
commit c4966d5b11
2 changed files with 5 additions and 5 deletions
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2
description/face.xacro
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@ -4,7 +4,7 @@
<joint name="face_joint" type="fixed"> <joint name="face_joint" type="fixed">
<parent link="chassis"/> <parent link="chassis"/>
<child link="face_link"/> <child link="face_link"/>
<origin xyz="${chassis_length}/2 0 ${chassis_height/2}" rpy="0 0 0"/> <origin xyz="${chassis_length/2} 0 ${chassis_height/2}" rpy="0 0 0"/>
</joint> </joint>
<link name="face_link"> <link name="face_link">

8
description/robot_core.xacro
View File

@ -78,7 +78,7 @@
<joint name="chassis_joint" type="fixed"> <joint name="chassis_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link"/>
<child link="chassis"/> <child link="chassis"/>
<origin xyz="0 0 ${-wheel_offset_z}"/> <origin xyz="-${chassis_length/2} 0 ${-wheel_offset_z}"/>
</joint> </joint>
<link name="chassis"> <link name="chassis">
@ -107,7 +107,7 @@
<!-- LEFT WHEEL LINK --> <!-- LEFT WHEEL LINK -->
<joint name="left_wheel_joint" type="continuous"> <joint name="left_wheel_joint" type="continuous">
<parent link="base_link"/> <parent link="chassis"/>
<child link="left_wheel"/> <child link="left_wheel"/>
<origin xyz="${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 - 0.070} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} 0" rpy="-${pi/2} 0 0" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
@ -140,7 +140,7 @@
<!-- RIGHT WHEEL LINK --> <!-- RIGHT WHEEL LINK -->
<joint name="right_wheel_joint" type="continuous"> <joint name="right_wheel_joint" type="continuous">
<parent link="base_link"/> <parent link="chassis"/>
<child link="right_wheel"/> <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 - 0.070} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} 0" rpy="${pi/2} 0 0" />
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
@ -173,7 +173,7 @@
<joint name="caster_wheel_joint" type="fixed"> <joint name="caster_wheel_joint" type="fixed">
<parent link="chassis"/> <parent link="chassis"/>
<child link="caster_wheel"/> <child link="caster_wheel"/>
<origin xyz="${caster_wheel_offset_x} 0 ${caster_wheel_offset_z}"/> <origin xyz="-${caster_wheel_offset_x*2} 0 ${caster_wheel_offset_z}"/>
</joint> </joint>