X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=1bd641e23a0a12bc4f9d22e76627abc646ea88f5;hp=733a51d2e0b0267ab60bdb75c834ad1e2920d4c3;hb=80b61518513631afbd8acdcab2b23a53266080ca;hpb=fef837ff325499eccd07828f2f1ce104727d37db

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 733a51d..1bd641e 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -6,7 +6,7 @@
 	<link name="base_footprint">
 		<visual>
 			<geometry>
-				<box size="0.28 0.31 0.0"/>
+				<box size="0.28 0.31 0.000001"/>
 			</geometry>
 			<material name="grey">
 				<color rgba="0.5 0.5 0.5 0.5"/>
@@ -246,8 +246,8 @@
 		</gazebo>
 	</xacro:macro>
 
-	<xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="6" fov="${60*PI/180}" radiation="ultrasound" />
-	<xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="6" fov="${60*PI/180}" radiation="ultrasound" />
+	<xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="6" fov="${30*PI/180}" radiation="ultrasound" />
+	<xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="6" fov="${30*PI/180}" radiation="ultrasound" />
 	<xacro:range_sensor name="ir_left" ros_topic="range_left" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
 	<xacro:range_sensor name="ir_right" ros_topic="range_right" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
 </robot>