From 1bb8d565837691d68b3d674463be10de3330c2da Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 3 Jun 2017 19:39:51 +0200
Subject: [PATCH] Move forward sonars 2cm more apart

---
 scripts/wt_node.py           | 2 +-
 urdf/wild_thumper.urdf.xacro | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index fcb20be..5215d49 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -325,7 +325,7 @@ class MoveBase:
 		if self.pub_range_fwd_right.get_num_connections() > 0:
 			dist = self.read_dist_srf(0x19)
 			self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
-			self.start_dist_srf(0x9) # get next value
+			self.start_dist_srf(0xb) # get next value
 	
 	def led_stripe_received(self, msg):
 		for led in msg.leds:
diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 15beab2..47039b6 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -137,13 +137,13 @@
 	<joint name="sonar_forward_left_joint" type="fixed">
 		<parent link="mounting_plate"/>
 		<child link="sonar_forward_left"/>
-		<origin xyz="0.115 0.04 -0.012" rpy="0 0 0"/>
+		<origin xyz="0.115 0.05 -0.012" rpy="0 0 0"/>
 	</joint>
 
 	<joint name="sonar_forward_right_joint" type="fixed">
 		<parent link="mounting_plate"/>
 		<child link="sonar_forward_right"/>
-		<origin xyz="0.115 -0.04 -0.012" rpy="0 0 0"/>
+		<origin xyz="0.115 -0.05 -0.012" rpy="0 0 0"/>
 	</joint>
 
 	<joint name="sonar_backward_joint" type="fixed">
-- 
2.39.5