X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=4630c878ec037fccda24432499ef8be9c7185c1d;hp=f84e201314ddb72307d1042b9f5cee7f38d5c7b5;hb=48b64bbd9a5682f9ba6012dd753273315b0872b4;hpb=47414c87ea933baa2f6b16d30acaca48b7636af2

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index f84e201..4630c87 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -56,7 +56,19 @@
 		<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"/>
@@ -122,16 +134,22 @@
 		<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 ${-10*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 ${-10*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 ${-170*PI/180} 0"/>
 	</joint>
 
 	<joint name="ir_left_joint" type="fixed">