X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=urdf%2Fexplorer.urdf;h=8f44ce2927fc3397b5d818b83261ec529b129600;hb=e2df79c17569d45bd959aec083c5fd6e72ca960b;hp=d5c84c594f2ee3e6b2bce8908637a95c3c2bf440;hpb=f5eea9a58ebf3f5740c64e4b77c3fe52ed9fa351;p=ros_roboint.git

diff --git a/urdf/explorer.urdf b/urdf/explorer.urdf
index d5c84c5..8f44ce2 100644
--- a/urdf/explorer.urdf
+++ b/urdf/explorer.urdf
@@ -5,9 +5,9 @@
 			<geometry>
 				<box size="0.14 0.155 0.085"/>
 			</geometry>
-			<origin xyz="0.06 0 0.0525" rpy="0 0 0"/>
-			<material name="white">
-				<color rgba="1 1 1 1"/>
+			<origin xyz="0.0 0 0.0525" rpy="0 0 0"/>
+			<material name="white_transparent">
+				<color rgba="1 1 1 0.8"/>
 			</material>
 		</visual>
 	</link>
@@ -17,7 +17,6 @@
 			<geometry>
 				<box size="0.06 0.09 0.075"/>
 			</geometry>
-			<origin xyz="0 0 0.0525" rpy="0 0 0"/>
 			<material name="red">
 				<color rgba="1 0 0 1"/>
 			</material>
@@ -33,6 +32,11 @@
 				<color rgba="0 0 0 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder radius="0.026" length="0.02"/>
+			</geometry>
+		</collision>
 	</link>
 
 	<link name="right_wheel">
@@ -44,6 +48,11 @@
 				<color rgba="0 0 0 1"/>
 			</material>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder radius="0.026" length="0.02"/>
+			</geometry>
+		</collision>
 	</link>
 
 	<link name="aft_wheel">
@@ -57,12 +66,12 @@
 		</visual>
 	</link>
 
-	<link name="scan">
+	<link name="forward_sensor">
 		<visual>
 			<geometry>
 				<box size="0.015 0.045 0.03"/>
 			</geometry>
-			<origin xyz="0.065 0 0.06" rpy="0 0 0"/>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
 			<material name="black">
 				<color rgba="0 0 0 1"/>
 			</material>
@@ -72,30 +81,50 @@
 	<joint name="tail_joint" type="fixed">
 		<parent link="base_link"/>
 		<child link="tail"/>
-		<origin xyz="-0.04 0 0.005" rpy="0 0 0"/>
+		<origin xyz="-0.1 0 0.0575" rpy="0 0 0"/>
 	</joint>
 
 	<joint name="left_wheel_joint" type="fixed">
 		<parent link="base_link"/>
 		<child link="left_wheel"/>
-		<origin xyz="0.07 -0.08 0.026" rpy="1.57 0 0"/>
+		<origin xyz="0 -0.08 0.026" rpy="1.57 0 0"/>
 	</joint>
 
 	<joint name="right_wheel_joint" type="fixed">
 		<parent link="base_link"/>
 		<child link="right_wheel"/>
-		<origin xyz="0.07 0.08 0.026" rpy="1.57 0 0"/>
+		<origin xyz="0 0.08 0.026" rpy="1.57 0 0"/>
 	</joint>
 
 	<joint name="aft_wheel_joint" type="fixed">
 		<parent link="tail"/>
 		<child link="aft_wheel"/>
-		<origin xyz="0 0 0.005" rpy="1.57 0 0"/>
+		<origin xyz="0 0 -0.0475" rpy="1.57 0 0"/>
 	</joint>
 
-	<joint name="scan_joint" type="fixed">
+	<joint name="forward_sensor_joint" type="fixed">
 		<parent link="base_link"/>
-		<child link="scan"/>
-		<origin xyz="0.06 0 0" rpy="0 0 0"/>
+		<child link="forward_sensor"/>
+		<origin xyz="0.07 0 0.06" rpy="0 0 0"/>
 	</joint>
+
+	<transmission name="left_wheel_trans" type="SimpleTransmission">
+		<type>transmission_interface/SimpleTransmission</type>
+		<joint name="left_wheel_joint">
+			<hardwareInterface>VelocityJointInterface</hardwareInterface>
+		</joint>
+		<actuator name="left_wheel_motor">
+			<mechanicalReduction>1</mechanicalReduction>
+		</actuator>
+	</transmission>
+
+	<transmission name="right_wheel_trans" type="SimpleTransmission">
+		<type>transmission_interface/SimpleTransmission</type>
+		<joint name="right_wheel_joint">
+			<hardwareInterface>VelocityJointInterface</hardwareInterface>
+		</joint>
+		<actuator name="right_wheel_motor">
+			<mechanicalReduction>1</mechanicalReduction>
+		</actuator>
+	</transmission>
 </robot>