cut 6wd model to 4wd

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index e247bead4ef1ffbd03de2538567336057a559e1c..b4fa9847b9dc0c570fd4ad9a7e1d91a00381d78b 100644 (file)
--- a/config/local_costmap_params.yaml
+++ b/config/local_costmap_params.yaml
@@ -5,8 +5,8 @@ local_costmap:
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
-  width: 10.0
-  height: 10.0
+  width: 5.0
+  height: 5.0
   resolution: 0.05
   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}

diff --git a/meshes/wild_thumper_4wd.blend b/meshes/wild_thumper_4wd.blend
new file mode 100644 (file)
index 0000000..7b0039f
Binary files /dev/null and b/meshes/wild_thumper_4wd.blend differ

diff --git a/meshes/wild_thumper_4wd.stl b/meshes/wild_thumper_4wd.stl
new file mode 100644 (file)
index 0000000..eac11db
Binary files /dev/null and b/meshes/wild_thumper_4wd.stl differ

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 4e78a879cb48e63d75398287f0fe659410edeb65..67e6da7b5602ac6cc180dc406161b34e520c217a 100644 (file)
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -5,9 +5,9 @@
 
        <link name="base_link">
                <visual>
-                       <origin xyz="0.09 -0.022 0.07" rpy="${PI} 0 ${-PI/2}"/>
+                       <origin xyz="0 0 -0.13" rpy="0 0 0"/>
                        <geometry>
-                               <mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
+                               <mesh filename="package://wild_thumper/meshes/wild_thumper_4wd.stl" scale="1 1 1" />
                        </geometry>
                </visual>
        </link>