From 1e0c178b4723217cf134c26ebedfec68ecafe67a Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 26 Jan 2020 21:27:47 +0100
Subject: [PATCH] urdf fixes

---
 urdf/wild_thumper.urdf.xacro | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 2f00fd6..f50da66 100644
--- 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" />
-- 
2.39.5