From: Erik Andresen <erik@vontaene.de>
Date: Fri, 2 Mar 2018 20:25:34 +0000 (+0100)
Subject: urdf: sonar sensors to 5°
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=dddde251135524dca0b295e8610726d11f5529fc

urdf: sonar sensors to 5°
---

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 4630c87..8be843c 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -137,19 +137,19 @@
 	<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">