X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=fd005afa5d7308fe564d8ab3d91d2489abc88414;hp=250efd306b9f11eb642d7db345ba8d1a957f9cdb;hb=b0346ccd1f5566f3134ed47fd28f8330d7d2d76b;hpb=1b8b4aa5f1c5c802a74309c5151388a34ec1c860

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 250efd3..fd005af 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -37,9 +37,9 @@
 			</geometry>
 		</visual>
 		<inertial>
-			<origin xyz="-0.00275 0 -0.02" rpy="0 0 0"/>
+			<origin xyz="-0.00275 0 0" rpy="0 0 0"/>
 			<mass value="2.5"/>
-			<inertia ixx="0.012708" ixy="0.0" ixz="0.0" iyy="0.0084375" iyz="0.0" izz="0.017771"/>
+			<inertia izz="0.014021" ixy="0.0" ixz="0.0" iyy="0.012708" iyz="0.0" ixx="0.0046875"/>
 		</inertial>
 	</link>
 
@@ -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">
@@ -183,7 +189,7 @@
 			<mu1 value="1.0"/>
 			<mu2 value="0.2"/>
 			<kp value="1000000000000.0" />
-			<kd value="0.0" />
+			<kd value="1.0" />
 			<fdir1 value="0 1 0"/>
 			<minDepth>0.005</minDepth>
 		</gazebo>
@@ -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">