Set sonar angle to 5° degree
[ros_wild_thumper.git] / urdf / wild_thumper.urdf.xacro
index 15beab2..8be843c 100644 (file)
        <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 ${-5*PI/180} 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 ${-5*PI/180} 0"/>
        </joint>
 
        <joint name="sonar_backward_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="sonar_backward"/>
-               <origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
+               <origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 0"/>
        </joint>
 
        <joint name="ir_left_joint" type="fixed">