urdf: added antenna

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 95957e3c36e4d705d04bfc82b86983bc8fd2bfc8..250efd306b9f11eb642d7db345ba8d1a957f9cdb 100644 (file)
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -2,14 +2,25 @@
 <robot name="wild_thumper" xmlns:xacro="http://ros.org/wiki/xacro">
        <xacro:property name="PI" value="3.1415926535897931" />
 
+       <material name="wtgrey">
+               <color rgba="0.5 0.5 0.5 0.5"/>
+       </material>
+       <material name="wtred">
+               <color rgba="1 0 0 1"/>
+       </material>
+       <material name="wtblack">
+               <color rgba="0 0 0 1"/>
+       </material>
+       <material name="wtgreen">
+               <color rgba="0 1 0 0.8"/>
+       </material>
+
        <link name="base_footprint">
                <visual>
                        <geometry>
                                <box size="0.28 0.31 0.000001"/>
                        </geometry>
-                       <material name="grey">
-                               <color rgba="0.5 0.5 0.5 0.5"/>
-                       </material>
+                       <material name="wtgrey"/>
                </visual>
        </link>
 
@@ -37,9 +48,7 @@
                        <geometry>
                                <box size="0.041 0.028 0.002"/>
                        </geometry>
-                       <material name="red">
-                               <color rgba="1 0 0 1"/>
-                       </material>
+                       <material name="wtred"/>
                </visual>
        </link>
 
@@ -57,9 +66,7 @@
                                <mesh filename="package://wild_thumper/meshes/rplidar_a2.stl" scale="0.001 0.001 0.001"/>
                        </geometry>
                        <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
+                       <material name="wtblack"/>
                </visual>
        </link>
 
@@ -69,9 +76,7 @@
                                <box size="0.016 0.044 0.02"/>
                        </geometry>
                        <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
-                       <material name="green">
-                               <color rgba="0 1 0 0.8"/>
-                       </material>
+                       <material name="wtgreen"/>
                </visual>
        </link>
 
@@ -81,9 +86,7 @@
                                <box size="0.016 0.044 0.02"/>
                        </geometry>
                        <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
-                       <material name="green">
-                               <color rgba="0 1 0 0.8"/>
-                       </material>
+                       <material name="wtgreen"/>
                </visual>
        </link>
 
@@ -93,9 +96,17 @@
                                <box size="0.016 0.044 0.02"/>
                        </geometry>
                        <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
-                       <material name="green">
-                               <color rgba="0 1 0 0.8"/>
-                       </material>
+                       <material name="wtgreen"/>
+               </visual>
+       </link>
+
+       <link name="antenna">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.006" length="0.165"/>
+                       </geometry>
+                       <origin xyz="0 0 0.0825" rpy="0 0 0"/>
+                       <material name="wtblack"/>
                </visual>
        </link>
 
@@ -135,6 +146,12 @@
                <origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 0"/>
        </joint>
 
+       <joint name="antenna_joint" type="fixed">
+               <parent link="mounting_plate"/>
+               <child link="antenna"/>
+               <origin xyz="0.011 0.0588 0" rpy="0 0 0"/>
+       </joint>
+
        <joint name="lidar_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="lidar"/>

diff --git a/urdf/wild_thumper_with_manipulator.urdf.xacro b/urdf/wild_thumper_with_manipulator.urdf.xacro
index 31442584f61e7ee56152fecabe07f447e4fa625d..2462a8c0431ff6d48f1ec6afa5fb730a18a32a64 100644 (file)
--- a/urdf/wild_thumper_with_manipulator.urdf.xacro
+++ b/urdf/wild_thumper_with_manipulator.urdf.xacro
@@ -6,7 +6,7 @@
 
        <joint name="open_manipulator_joint" type="fixed">
                <parent link="mounting_plate"/>
-               <child link="link1"/>
+               <child link="open_manipulator_base"/>
                <origin xyz="-0.075 0.0 0.045" rpy="0 0 ${PI}"/>
        </joint>
 </robot>