From 6004f931145e02fa9a3a633c74aa265dfb398c52 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 12 Apr 2020 21:39:30 +0200
Subject: [PATCH] urdf: antenna fixes

---
 urdf/wild_thumper.urdf.xacro | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 250efd3..9d6dd8e 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -108,6 +108,12 @@
 			<origin xyz="0 0 0.0825" rpy="0 0 0"/>
 			<material name="wtblack"/>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder radius="0.008" length="0.17"/>
+			</geometry>
+			<origin xyz="0 0 0.085" rpy="0 0 0"/>
+		</collision>
 	</link>
 
 	<joint name="base_link_joint" type="fixed">
@@ -149,7 +155,7 @@
 	<joint name="antenna_joint" type="fixed">
 		<parent link="mounting_plate"/>
 		<child link="antenna"/>
-		<origin xyz="0.011 0.0588 0" rpy="0 0 0"/>
+		<origin xyz="0.011 0.05 0" rpy="0 0 0"/>
 	</joint>
 
 	<joint name="lidar_joint" type="fixed">
-- 
2.39.5