X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=urdf%2Fwild_thumper.urdf.xacro;h=4630c878ec037fccda24432499ef8be9c7185c1d;hb=a7bf130f7e0ea44d8ba7d02d1fa1310b658a9d87;hp=3cc49220f73b9fc486f90258655404fa52d36c0a;hpb=5423512c8fb51feb2fa1348a9dc2b606dc7af377;p=ros_wild_thumper.git

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 3cc4922..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 -0.04 -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 0.04 -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">