From: Erik Andresen <erik@vontaene.de>
Date: Wed, 26 Aug 2015 08:38:27 +0000 (+0200)
Subject: cut 6wd model to 4wd
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=1f9bfab5123f0dcdfe0da75c47558f73a572de90;ds=sidebyside

cut 6wd model to 4wd
---

diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
index e247bea..b4fa984 100644
--- 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
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
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 4e78a87..67e6da7 100644
--- 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>