urdf: sonar sensors to 5°
authorErik Andresen <erik@vontaene.de>
Fri, 2 Mar 2018 20:25:34 +0000 (21:25 +0100)
committerErik Andresen <erik@vontaene.de>
Fri, 2 Mar 2018 20:25:34 +0000 (21:25 +0100)
urdf/wild_thumper.urdf.xacro

index 4630c87..8be843c 100644 (file)
        <joint name="sonar_forward_left_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="sonar_forward_left"/>
-               <origin xyz="0.115 0.05 -0.012" rpy="0 ${-10*PI/180} 0"/>
+               <origin xyz="0.115 0.05 -0.012" rpy="0 ${-5*PI/180} 0"/>
        </joint>
 
        <joint name="sonar_forward_right_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="sonar_forward_right"/>
-               <origin xyz="0.115 -0.05 -0.012" rpy="0 ${-10*PI/180} 0"/>
+               <origin xyz="0.115 -0.05 -0.012" rpy="0 ${-5*PI/180} 0"/>
        </joint>
 
        <joint name="sonar_backward_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="sonar_backward"/>
-               <origin xyz="-0.115 0.0 -0.012" rpy="0 ${-170*PI/180} 0"/>
+               <origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 0"/>
        </joint>
 
        <joint name="ir_left_joint" type="fixed">