X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=inline;f=urdf%2Fwild_thumper.urdf.xacro;h=4630c878ec037fccda24432499ef8be9c7185c1d;hb=48b64bbd9a5682f9ba6012dd753273315b0872b4;hp=47039b6dfca1512d1c9fdd3b5dae2ccdd1158762;hpb=1bb8d565837691d68b3d674463be10de3330c2da;p=ros_wild_thumper.git

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 47039b6..4630c87 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -137,19 +137,19 @@
 	<joint name="sonar_forward_left_joint" type="fixed">
 		<parent link="mounting_plate"/>
 		<child link="sonar_forward_left"/>
-		<origin xyz="0.115 0.05 -0.012" rpy="0 0 0"/>
+		<origin xyz="0.115 0.05 -0.012" rpy="0 ${-10*PI/180} 0"/>
 	</joint>
 
 	<joint name="sonar_forward_right_joint" type="fixed">
 		<parent link="mounting_plate"/>
 		<child link="sonar_forward_right"/>
-		<origin xyz="0.115 -0.05 -0.012" rpy="0 0 0"/>
+		<origin xyz="0.115 -0.05 -0.012" rpy="0 ${-10*PI/180} 0"/>
 	</joint>
 
 	<joint name="sonar_backward_joint" type="fixed">
 		<parent link="mounting_plate"/>
 		<child link="sonar_backward"/>
-		<origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
+		<origin xyz="-0.115 0.0 -0.012" rpy="0 ${-170*PI/180} 0"/>
 	</joint>
 
 	<joint name="ir_left_joint" type="fixed">