urdf: Rotate manipulator by 180°

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index ec21d0b80b5ff615e116e5294f2851c7ee8ca1d2..e6b426cb88290f11831b36b40b8f35257b80f7a3 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -51,6 +51,7 @@
                <param name="yaw_offset" value="0.0"/>
                <param name="zero_altitude" value="true"/>
                <param name="broadcast_utm_transform" value="true"/>
                <param name="yaw_offset" value="0.0"/>
                <param name="zero_altitude" value="true"/>
                <param name="broadcast_utm_transform" value="true"/>

+               <param name="transform_timeout" value="0.2"/>

 
                <remap from="/imu/data" to="imu"/>
                <remap from="/gps/fix" to="fix" />
 
                <remap from="/imu/data" to="imu"/>
                <remap from="/gps/fix" to="fix" />

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 2969d613c7f11a06e81ac6efe17d740f059cf80f..bffabce5d178bb9fec2954587565c3363fa2fea3 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -58,7 +58,6 @@ class WTBase:
                sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
                reset_val = self.get_reset()
                rospy.loginfo("Reset Status: 0x%x" % reset_val)
                sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
                reset_val = self.get_reset()
                rospy.loginfo("Reset Status: 0x%x" % reset_val)

-               ir_count = 0

                sonar_count = 0
                i2c_write_reg(0x50, 0xA4, struct.pack("B", 1)) # enable Watchdog
                while not rospy.is_shutdown():
                sonar_count = 0
                i2c_write_reg(0x50, 0xA4, struct.pack("B", 1)) # enable Watchdog
                while not rospy.is_shutdown():


@@ -69,13 +68,6 @@ class WTBase:
                        self.get_odom()
                        self.get_power()
 
                        self.get_odom()
                        self.get_power()
 

-                       if ir_count == 0:
-                               self.get_dist_left()
-                               ir_count+=1
-                       else:
-                               self.get_dist_right()
-                               ir_count=0
-

                        if sonar_count == 0:
                                self.get_dist_forward_left()
                                self.update_dist_backward()
                        if sonar_count == 0:
                                self.get_dist_forward_left()
                                self.update_dist_backward()

diff --git a/urdf/wild_thumper_with_manipulator.urdf.xacro b/urdf/wild_thumper_with_manipulator.urdf.xacro
index 2462a8c0431ff6d48f1ec6afa5fb730a18a32a64..1451f50962551526d8ad73ed607e65d56c69e5d5 100644 (file)
--- a/urdf/wild_thumper_with_manipulator.urdf.xacro
+++ b/urdf/wild_thumper_with_manipulator.urdf.xacro
@@ -7,6 +7,6 @@
        <joint name="open_manipulator_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="open_manipulator_base"/>
        <joint name="open_manipulator_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="open_manipulator_base"/>

-               <origin xyz="-0.075 0.0 0.045" rpy="0 0 ${PI}"/>
+               <origin xyz="-0.075 0.0 0.045" rpy="0 0 0"/>

        </joint>
 </robot>
        </joint>
 </robot>