From 59aa8070d143dfe926defadfd3364d0c2185fef1 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 12 Oct 2014 16:12:33 +0200
Subject: [PATCH] urdf modifications

---
 arm.launch                            |  3 +--
 config/base_local_planner_params.yaml | 16 ++++++++--------
 urdf/{arm.urdf => arm.urdf.xacro}     | 17 ++++++++++++++++-
 3 files changed, 25 insertions(+), 11 deletions(-)
 rename urdf/{arm.urdf => arm.urdf.xacro} (76%)

diff --git a/arm.launch b/arm.launch
index 2ea8f39..03255e2 100644
--- a/arm.launch
+++ b/arm.launch
@@ -8,7 +8,6 @@
 		<param name="output_frame_id" value="/scan" />
 	</node>
 
-	<param name="robot_description" textfile="$(find arm)/urdf/arm.urdf" />
-
+	<param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 </launch>
diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index d046846..ae71582 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -1,12 +1,12 @@
 TrajectoryPlannerROS:
-  max_vel_x: 0.20
-  min_vel_x: 0.20
-  max_vel_theta: 1.5
-  min_vel_theta: 0.8
-  min_in_place_vel_theta: 0.8
+  max_vel_x: 0.50
+  min_vel_x: 0.10
+  max_vel_theta: 1.0
+  min_vel_theta: -1.0
+  min_in_place_vel_theta: 0.4
 
-  acc_lim_x: 180
-  acc_lim_y: 0.0
-  acc_lim_th: 620
+  acc_lim_x: 2.5
+  acc_lim_y: 2.5
+  acc_lim_theta: 3.2
 
   holonomic_robot: false
diff --git a/urdf/arm.urdf b/urdf/arm.urdf.xacro
similarity index 76%
rename from urdf/arm.urdf
rename to urdf/arm.urdf.xacro
index 99e6dac..8e7b3d5 100644
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf.xacro
@@ -1,5 +1,7 @@
 <?xml version="1.0"?>
-<robot name="arm">
+<robot name="arm" xmlns:xacro="http://ros.org/wiki/xacro">
+	<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
+
 	<link name="base_link">
 		<visual>
 			<geometry>
@@ -48,6 +50,19 @@
 		</visual>
 	</link>
 
+	<xacro:asus_camera name="camera" parent="base_link">
+		<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"/>
-- 
2.39.2