<link name="base_link">
<visual>
<geometry>
- <box size="0.23 0.17 0.20"/>
+ <box size="0.30 0.22 0.015"/>
</geometry>
- <origin xyz="0.0 0 0.12" rpy="0 0 0"/>
- <material name="grey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- </link>
-
- <link name="front_left_wheel">
- <visual>
- <geometry>
- <cylinder radius="0.03" length="0.005"/>
- </geometry>
- <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <origin xyz="0.08 0 0.095" rpy="0 0 0"/>
<material name="black">
- <color rgba="0 0 0 1"/>
+ <color rgba="0.0 0.0 0.0 1"/>
</material>
</visual>
</link>
- <link name="front_right_wheel">
+ <link name="front_wheel">
<visual>
<geometry>
- <cylinder radius="0.03" length="0.005"/>
+ <cylinder radius="0.025" length="0.002"/>
</geometry>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<material name="black">
<link name="aft_left_wheel">
<visual>
<geometry>
- <cylinder radius="0.03" length="0.005"/>
+ <cylinder radius="0.025" length="0.002"/>
</geometry>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<material name="black">
<link name="aft_right_wheel">
<visual>
<geometry>
- <cylinder radius="0.03" length="0.005"/>
+ <cylinder radius="0.025" length="0.002"/>
</geometry>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<material name="black">
</visual>
</link>
- <link name="platform">
- <visual>
- <geometry>
- <box size="0.08 0.065 0.075"/>
- </geometry>
- <material name="red">
- <color rgba="1 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="scan">
- <visual>
- <geometry>
- <box size="0.01 0.045 0.015"/>
- </geometry>
- </visual>
- </link>
-
- <link name="front_left_eye">
- <visual>
- <geometry>
- <cylinder radius="0.0075" length="0.01"/>
- </geometry>
- <origin xyz="0 0 0" rpy="0 1.57 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="front_right_eye">
- <visual>
- <geometry>
- <cylinder radius="0.0075" length="0.01"/>
- </geometry>
- <origin xyz="0 0 0" rpy="0 1.57 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="sonar_forward_lower">
- <visual>
- <geometry>
- <box size="0.01 0.045 0.03"/>
- </geometry>
- </visual>
- </link>
-
- <link name="front_lower_left_eye">
- <visual>
- <geometry>
- <cylinder radius="0.0075" length="0.01"/>
- </geometry>
- <origin xyz="0 0 0.0" rpy="0 1.57 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="front_lower_right_eye">
- <visual>
- <geometry>
- <cylinder radius="0.0075" length="0.01"/>
- </geometry>
- <origin xyz="0 0 0.0" rpy="0 1.57 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <link name="antenna">
- <visual>
- <geometry>
- <cylinder radius="0.005" length="0.20"/>
- </geometry>
- <origin xyz="0 0 0.1" rpy="0 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- </link>
-
- <joint name="front_left_wheel_joint" type="fixed">
- <parent link="base_link"/>
- <child link="front_left_wheel"/>
- <origin xyz="0.065 0.05 0.03" rpy="0 0 0"/>
- </joint>
-
- <joint name="front_right_wheel_joint" type="fixed">
+ <joint name="front_wheel_joint" type="fixed">
<parent link="base_link"/>
- <child link="front_right_wheel"/>
- <origin xyz="0.065 -0.05 0.03" rpy="0 0 0"/>
+ <child link="front_wheel"/>
+ <origin xyz="0.17 0.0 0.025" rpy="0 0 0"/>
</joint>
<joint name="aft_left_wheel_joint" type="fixed">
<parent link="base_link"/>
<child link="aft_left_wheel"/>
- <origin xyz="-0.08 0.05 0.03" rpy="0 0 0"/>
+ <origin xyz="0.0 0.05 0.025" rpy="0 0 0"/>
</joint>
<joint name="aft_right_wheel_joint" type="fixed">
<parent link="base_link"/>
<child link="aft_right_wheel"/>
- <origin xyz="-0.08 -0.05 0.03" rpy="0 0 0"/>
- </joint>
-
- <joint name="platform_joint" type="continuous">
- <parent link="base_link"/>
- <child link="platform"/>
- <origin xyz="-0.04 0 0.26" rpy="0 0 0"/>
- <axis xyz="0 0 1"/>
- </joint>
-
- <joint name="scan_joint" type="fixed">
- <parent link="platform"/>
- <child link="scan"/>
- <origin xyz="0.035 0 0" rpy="0 0 0"/>
- </joint>
-
- <joint name="front_left_eye_joint" type="fixed">
- <parent link="scan"/>
- <child link="front_left_eye"/>
- <origin xyz="0.01 -0.0125 0" rpy="0 0 0"/>
- </joint>
-
- <joint name="front_right_eye_joint" type="fixed">
- <parent link="scan"/>
- <child link="front_right_eye"/>
- <origin xyz="0.01 0.0125 0" rpy="0 0 0"/>
- </joint>
-
- <joint name="sonar_forward_lower_join" type="fixed">
- <parent link="base_link"/>
- <child link="sonar_forward_lower"/>
- <origin xyz="0.105 0.0 0.035" rpy="0 -0.1309 0"/>
- </joint>
-
- <joint name="front_lower_left_eye_joint" type="fixed">
- <parent link="sonar_forward_lower"/>
- <child link="front_lower_left_eye"/>
- <origin xyz="0.01 -0.01 0.0" rpy="0 0 0"/>
- </joint>
-
- <joint name="front_lower_right_eye_joint" type="fixed">
- <parent link="sonar_forward_lower"/>
- <child link="front_lower_right_eye"/>
- <origin xyz="0.01 0.01 0.0" rpy="0 0 0"/>
- </joint>
-
- <joint name="antenna_joint" type="fixed">
- <parent link="base_link"/>
- <child link="antenna"/>
- <origin xyz="-0.12 0.08 0.14" rpy="0 0 0"/>
+ <origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
</joint>
</robot>
projects / arm_ros_conn.git / blobdiff