X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=9c929e55f18da1db3dbd13aae9da7d2b9bc78d0d;hp=250efd306b9f11eb642d7db345ba8d1a957f9cdb;hb=db645690cb11053418bc17861d335966ba3c4682;hpb=1b8b4aa5f1c5c802a74309c5151388a34ec1c860

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 250efd3..9c929e5 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -108,6 +108,12 @@
 			<origin xyz="0 0 0.0825" rpy="0 0 0"/>
 			<material name="wtblack"/>
 		</visual>
+		<collision>
+			<geometry>
+				<cylinder radius="0.008" length="0.17"/>
+			</geometry>
+			<origin xyz="0 0 0.085" rpy="0 0 0"/>
+		</collision>
 	</link>
 
 	<joint name="base_link_joint" type="fixed">
@@ -149,7 +155,7 @@
 	<joint name="antenna_joint" type="fixed">
 		<parent link="mounting_plate"/>
 		<child link="antenna"/>
-		<origin xyz="0.011 0.0588 0" rpy="0 0 0"/>
+		<origin xyz="0.011 0.05 0" rpy="0 0 0"/>
 	</joint>
 
 	<joint name="lidar_joint" type="fixed">
@@ -273,8 +279,6 @@
 	<xacro:range_sensor name="sonar_forward_left" ros_topic="range_forward_left" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
 	<xacro:range_sensor name="sonar_forward_right" ros_topic="range_forward_right" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
 	<xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
-	<xacro:range_sensor name="ir_left" ros_topic="range_left" update_rate="10" minRange="0.04" maxRange="0.3" fov="${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" />
 
 	<gazebo reference="lidar">
 		<sensor type="ray" name="head_rplidar_a2_sensor">