ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-07-28 12:06:18 +02:00
parent 43b8fb9f76
commit ffb72d9151
2 changed files with 3 additions and 3 deletions
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2
description/robot.urdf.xacro
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@ -12,7 +12,7 @@
<xacro:unless value="$(arg use_ros2_control)"> <xacro:unless value="$(arg use_ros2_control)">
<xacro:include filename="gazebo_control.xacro" /> <xacro:include filename="gazebo_control.xacro" />
</xacro:unless> </xacro:unless>
<xacro:include filename="lidar.xacro" /> <!-- <xacro:include filename="lidar.xacro" /> -->
<xacro:include filename="camera.xacro" /> <xacro:include filename="camera.xacro" />
<!-- <xacro:include filename="depth_camera.xacro" /> --> <!-- <xacro:include filename="depth_camera.xacro" /> -->

4
description/robot_core.xacro
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@ -210,7 +210,7 @@
</joint> </joint>
<link name="caster_wheel"> <link name="laser_frame">
<visual> <visual>
<geometry> <geometry>
<sphere radius="${caster_wheel_radius}"/> <sphere radius="${caster_wheel_radius}"/>
@ -227,7 +227,7 @@
</xacro:inertial_sphere> </xacro:inertial_sphere>
</link> </link>
<gazebo reference="caster_wheel"> <gazebo reference="laser_frame">
<material>Gazebo/White</material> <material>Gazebo/White</material>
<mu1 value="0.001"/> <mu1 value="0.001"/>
<mu2 value="0.001"/> <mu2 value="0.001"/>