<link name="base_link">
<visual>
- <origin xyz="0.02 0.165 0.2" rpy="${PI} 0 0"/>
+ <origin xyz="0.09 -0.02 0.07" rpy="${PI} 0 ${-PI/2}"/>
<geometry>
<mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
+ <link name="base_footprint">
+ <visual>
+ <geometry>
+ <box size="0.28 0.31 0.0"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.5 0.5 0.5 0.5"/>
+ </material>
+ </visual>
+ </link>
+
+ <link name="base_imu_link">
+ <visual>
+ <geometry>
+ <box size="0.041 0.028 0.002"/>
+ </geometry>
+ <material name="red">
+ <color rgba="1 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
<xacro:asus_camera name="camera" parent="base_link">
- <origin xyz="0 0.19 0.15" rpy="0 0 ${PI/2}"/>
+ <origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
</xacro:asus_camera>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_imu_link"/>
+ <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
+ </joint>
+
+ <joint name="base_link_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link"/>
+ <origin xyz="0.0 0.0 0.13" rpy="0 0 0"/>
+ </joint>
</robot>