urdf fixes

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 2f00fd63efd18c6e3fc73169f1321d417d51048f..f50da66a00d57acdc1b1e9dc43582523eeb45b9b 100644 (file)
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -16,7 +16,7 @@
        <link name="base_link">
                <collision>
                        <geometry>
-                               <box size="0.23 0.18 0.09"/>
+                               <box size="0.23 0.12 0.09"/>
                        </geometry>
                </collision>
                <visual>
@@ -28,7 +28,7 @@
                <inertial>
                        <origin xyz="-0.00275 0 -0.02" rpy="0 0 0"/>
                        <mass value="2.5"/>
-                       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+                       <inertia ixx="0.012708" ixy="0.0" ixz="0.0" iyy="0.0084375" iyz="0.0" izz="0.017771"/>
                </inertial>
        </link>
 
@@ -56,7 +56,7 @@
                        <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"/>
+                       <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
                        <material name="black">
                                <color rgba="0 0 0 1"/>
                        </material>
@@ -138,7 +138,7 @@
        <joint name="lidar_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="lidar"/>
-               <origin xyz="0.075 0.01 0.0" rpy="0 0 ${-110*PI/180}"/>
+               <origin xyz="0.075 0.01 ${0.0408/2}" rpy="0 0 ${-110*PI/180}"/>
        </joint>
 
        <xacro:macro name="wheel" params="pos side xyz rpy">   
@@ -150,24 +150,25 @@
                                </geometry>
                        </visual>
                        <collision>
-                               <origin xyz="0 0 0" rpy="${-PI/2} 0 0"/>
+                               <origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
                                <geometry>
                                        <cylinder radius="0.06" length="0.06"/>
                                </geometry>
                        </collision>
                        <inertial>
                                <origin xyz="0 0 0" rpy="0 0 0"/>
-                               <mass value="0.1"/>
-                               <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005"/>
+                               <mass value="0.2"/>
+                               <inertia ixx="0.00024" ixy="0" ixz="0" iyy="0.00036" iyz="0" izz="0.00024"/>
                        </inertial>
                </link>
 
                <gazebo reference="${pos}_${side}_wheel">
                        <mu1 value="1.0"/>
-                       <mu2 value="1.0"/>
+                       <mu2 value="0.2"/>
                        <kp value="1000000.0" />
                        <kd value="1.0" />
-                       <fdir1 value="1 0 0"/>
+                       <fdir1 value="0 1 0"/>
+                       <minDepth>0.005</minDepth>
                </gazebo>
 
                <joint name="${pos}_${side}_wheel_joint" type="continuous">
@@ -252,7 +253,8 @@
                </gazebo>
        </xacro:macro>
 
-       <xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
+       <xacro:range_sensor name="sonar_forward_left" ros_topic="range_forward_left" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
+       <xacro:range_sensor name="sonar_forward_right" ros_topic="range_forward_right" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
        <xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
        <xacro:range_sensor name="ir_left" ros_topic="range_left" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
        <xacro:range_sensor name="ir_right" ros_topic="range_right" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />