From: Erik Andresen <erik@vontaene.de>
Date: Fri, 20 Feb 2015 23:32:05 +0000 (+0100)
Subject: urdf cleanup
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=0d1a527c896034b043f05858666a770a14475260;p=arm_ros_conn.git

urdf cleanup
---

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index 9bfe92d..ff06cdf 100755
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -19,7 +19,7 @@ class ARMRosConn():
 	def odom_received(self, msg):
 		pos = (msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z)
 		orientation = (msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w)
-		self.tf_broadcaster.sendTransform(pos, orientation, msg.header.stamp, "base_link", "odom")
+		self.tf_broadcaster.sendTransform(pos, orientation, rospy.Time.now(), "base_link", "odom")
 
 if __name__ == '__main__':
 	ARMRosConn()
diff --git a/urdf/arm.urdf.xacro b/urdf/arm.urdf.xacro
index 8e7b3d5..dd7b0f1 100644
--- a/urdf/arm.urdf.xacro
+++ b/urdf/arm.urdf.xacro
@@ -54,15 +54,6 @@
 		<origin xyz="0.195 0.0 0.165" rpy="0 0 0"/>
 	</xacro:asus_camera>
 
-	<link name="scan">
-	</link>
-
-	<joint name="scan_joint" type="fixed">
-		<parent link="camera_depth_frame"/>
-		<child link="scan"/>
-		<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
-	</joint>
-
 	<joint name="front_wheel_joint" type="fixed">
 		<parent link="base_link"/>
 		<child link="front_wheel"/>