ellensohn/cps_rmp220_support
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compare: ellensohn:e8e089e36cdaf48a3c689f080274fa9701649d85
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3 changed files with 6 additions and 8 deletions
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6
description/imu.xacro
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@ -3,15 +3,15 @@
<joint name="imu_joint" type="fixed"> <joint name="imu_joint" type="fixed">
<parent link="chassis"/> <parent link="chassis"/>
<child link="robot_imu"/> <child link="imu_link"/>
<origin xyz="${chassis_length/2 - 0.15285} 0 0" rpy="0 0 0"/> <origin xyz="${chassis_length/2 - 0.15285} 0 0" rpy="0 0 0"/>
</joint> </joint>
<link name="robot_imu"> <link name="imu_link">
</link> </link>
<gazebo reference="robot_imu"> <gazebo reference="imu_link">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
</gazebo> </gazebo>

6
description/robot_core.xacro
View File

@ -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"/> <child link="laser_frame"/>
<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"> <link name="laser_frame">
<visual> <visual>
<geometry> <geometry>
<cylinder radius="0.04" length="0.05"/> <cylinder radius="0.04" length="0.05"/>
@ -250,7 +250,7 @@
</xacro:inertial_sphere> </xacro:inertial_sphere>
</link> </link>
<gazebo reference="laser"> <gazebo reference="laser_frame">
<material>Gazebo/White</material> <material>Gazebo/White</material>
</gazebo> </gazebo>

2
launch/rsp.launch
View File

@ -8,6 +8,4 @@
<!-- Start the joint state publisher node --> <!-- Start the joint state publisher node -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>
<node pkg="tf" type="static_transform_publisher" name="odom_to_base_link" args="0 0 0 0 0 0 odom base_link 40" />
</launch> </launch>