added robot_pose_ekf
[ros_wild_thumper.git] / urdf / wild_thumper.urdf.xacro
index ceb3df3..c783cff 100644 (file)
@@ -5,14 +5,48 @@
 
        <link name="base_link">
                <visual>
-                       <origin xyz="0.02 0.165 0.2" rpy="${PI} 0 ${-PI/2}"/>
+                       <origin xyz="0.09 -0.02 0.07" rpy="${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 0"/>
+               <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>