X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=c783cffff36792da7c39d78102995dd0bf82f1a5;hp=ceb3df3cf66184634c5e3691e3d3bbff7a56e845;hb=4958e800772cdb9f790ce42feb89ea87d4b268e7;hpb=2100cc84143e07ddd4b67bada32421c4d1cf6379

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index ceb3df3..c783cff 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -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>