Move forward sonars 2cm more apart

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index fcb20be43f2a8fd1795b19a66590a7c79ea70873..5215d49ca5d3e7dd68fb751181f0fac9d8f197cd 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -325,7 +325,7 @@ class MoveBase:
                if self.pub_range_fwd_right.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x19)
                        self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
                if self.pub_range_fwd_right.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x19)
                        self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)

-                       self.start_dist_srf(0x9) # get next value
+                       self.start_dist_srf(0xb) # get next value

        
        def led_stripe_received(self, msg):
                for led in msg.leds:
        
        def led_stripe_received(self, msg):
                for led in msg.leds:

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 15beab2b4ecd43be03558df6204729bb65f9c6da..47039b6dfca1512d1c9fdd3b5dae2ccdd1158762 100644 (file)
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -137,13 +137,13 @@
        <joint name="sonar_forward_left_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="sonar_forward_left"/>
        <joint name="sonar_forward_left_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="sonar_forward_left"/>

-               <origin xyz="0.115 0.04 -0.012" rpy="0 0 0"/>
+               <origin xyz="0.115 0.05 -0.012" rpy="0 0 0"/>

        </joint>
 
        <joint name="sonar_forward_right_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="sonar_forward_right"/>
        </joint>
 
        <joint name="sonar_forward_right_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="sonar_forward_right"/>

-               <origin xyz="0.115 -0.04 -0.012" rpy="0 0 0"/>
+               <origin xyz="0.115 -0.05 -0.012" rpy="0 0 0"/>

        </joint>
 
        <joint name="sonar_backward_joint" type="fixed">
        </joint>
 
        <joint name="sonar_backward_joint" type="fixed">