X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;ds=sidebyside;f=urdf%2Fwild_thumper.urdf.xacro;h=5d5f9b7b23366dc5d5e8c2279e16bd26a01db062;hb=e46de78ee34c663f5ac1ceb0656acd0cf9370288;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..5d5f9b7 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 <robot name="wild_thumper" xmlns:xacro="http://ros.org/wiki/xacro">
 	<xacro:property name="PI" value="3.1415926535897931" />
-	<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
 
 	<link name="base_footprint">
 		<visual>
@@ -52,9 +51,17 @@
 		</visual>
 	</link>
 
-	<xacro:asus_camera name="camera" parent="mounting_plate">
-		<origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
-	</xacro:asus_camera>
+	<link name="lidar">
+		<visual>
+			<geometry>
+				<mesh filename="package://wild_thumper/meshes/rplidar_a2.stl" scale="0.001 0.001 0.001"/>
+			</geometry>
+			<origin xyz="0.0 0.0 ${0.0408/2}" rpy="0 0 0"/>
+			<material name="black">
+				<color rgba="0 0 0 1"/>
+			</material>
+		</visual>
+	</link>
 
 	<link name="sonar_forward_left">
 		<visual>
@@ -92,30 +99,6 @@
 		</visual>
 	</link>
 
-	<link name="ir_left">
-		<visual>
-			<geometry>
-				<box size="0.015 0.015 0.046"/>
-			</geometry>
-			<origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="ir_right">
-		<visual>
-			<geometry>
-				<box size="0.015 0.015 0.046"/>
-			</geometry>
-			<origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
 	<joint name="base_link_joint" type="fixed">
 		<parent link="base_footprint"/>
 		<child link="base_link"/>
@@ -137,31 +120,25 @@
 	<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 ${-5*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 ${-5*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"/>
-	</joint>
-
-	<joint name="ir_left_joint" type="fixed">
-		<parent link="mounting_plate"/>
-		<child link="ir_left"/>
-		<origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
+		<origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 0"/>
 	</joint>
 
-	<joint name="ir_right_joint" type="fixed">
+	<joint name="lidar_joint" type="fixed">
 		<parent link="mounting_plate"/>
-		<child link="ir_right"/>
-		<origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>
+		<child link="lidar"/>
+		<origin xyz="0.075 0.01 0.0" rpy="0 0 ${-110*PI/180}"/>
 	</joint>
 
 	<xacro:macro name="wheel" params="pos side xyz rpy">