Set sonar angle to 5° degree
[ros_wild_thumper.git] / urdf / wild_thumper.urdf.xacro
index f84e201..8be843c 100644 (file)
                <origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
        </xacro:asus_camera>
 
-       <link name="sonar_forward">
+       <link name="sonar_forward_left">
+               <visual>
+                       <geometry>
+                               <box size="0.016 0.044 0.02"/>
+                       </geometry>
+                       <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
+                       <material name="green">
+                               <color rgba="0 1 0 0.8"/>
+                       </material>
+               </visual>
+       </link>
+
+       <link name="sonar_forward_right">
                <visual>
                        <geometry>
                                <box size="0.016 0.044 0.02"/>
                <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
        </joint>
 
-       <joint name="sonar_forward_joint" type="fixed">
+       <joint name="sonar_forward_left_joint" type="fixed">
+               <parent link="mounting_plate"/>
+               <child link="sonar_forward_left"/>
+               <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"/>
-               <origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
+               <child link="sonar_forward_right"/>
+               <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">