ellensohn/cps_rmp220_support
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Your Name 2025-01-16 14:46:56 +01:00
parent b14081ff85
commit ee4407eea5
2 changed files with 14 additions and 4 deletions
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18
description/robot_core.xacro
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@ -58,20 +58,30 @@
<!-- BASE LINK --> <!-- BASE LINK -->
<link name="base_link"> <!-- <link name="base_link">
</link> </link> -->
<!-- BASE_FOOTPRINT LINK --> <!-- BASE_FOOTPRINT LINK -->
<joint name="base_footprint_joint" type="fixed"> <!-- <joint name="base_footprint_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link"/>
<child link="base_footprint"/> <child link="base_footprint"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
</joint> </joint> -->
<link name="base_footprint"> <link name="base_footprint">
</link> </link>
<!-- BASE LINK -->
<joint name="base_link_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="base_link">
</link>
<!-- CHASSIS LINK --> <!-- CHASSIS LINK -->

0
launch/gmapping.launch Normal file
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