urdf: antenna fixes

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 250efd306b9f11eb642d7db345ba8d1a957f9cdb..9d6dd8eb35f4280a326dc2c11cb8782f880119c6 100644 (file)
--- 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">