From 1b8b4aa5f1c5c802a74309c5151388a34ec1c860 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 12 Apr 2020 20:56:56 +0200
Subject: [PATCH] urdf: added antenna

---
 urdf/wild_thumper.urdf.xacro                  | 53 ++++++++++++-------
 urdf/wild_thumper_with_manipulator.urdf.xacro |  2 +-
 2 files changed, 36 insertions(+), 19 deletions(-)

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 95957e3..250efd3 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -2,14 +2,25 @@
 <robot name="wild_thumper" xmlns:xacro="http://ros.org/wiki/xacro">
 	<xacro:property name="PI" value="3.1415926535897931" />
 
+	<material name="wtgrey">
+		<color rgba="0.5 0.5 0.5 0.5"/>
+	</material>
+	<material name="wtred">
+		<color rgba="1 0 0 1"/>
+	</material>
+	<material name="wtblack">
+		<color rgba="0 0 0 1"/>
+	</material>
+	<material name="wtgreen">
+		<color rgba="0 1 0 0.8"/>
+	</material>
+
 	<link name="base_footprint">
 		<visual>
 			<geometry>
 				<box size="0.28 0.31 0.000001"/>
 			</geometry>
-			<material name="grey">
-				<color rgba="0.5 0.5 0.5 0.5"/>
-			</material>
+			<material name="wtgrey"/>
 		</visual>
 	</link>
 
@@ -37,9 +48,7 @@
 			<geometry>
 				<box size="0.041 0.028 0.002"/>
 			</geometry>
-			<material name="red">
-				<color rgba="1 0 0 1"/>
-			</material>
+			<material name="wtred"/>
 		</visual>
 	</link>
 
@@ -57,9 +66,7 @@
 				<mesh filename="package://wild_thumper/meshes/rplidar_a2.stl" scale="0.001 0.001 0.001"/>
 			</geometry>
 			<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
+			<material name="wtblack"/>
 		</visual>
 	</link>
 
@@ -69,9 +76,7 @@
 				<box size="0.016 0.044 0.02"/>
 			</geometry>
 			<origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
-			<material name="green">
-				<color rgba="0 1 0 0.8"/>
-			</material>
+			<material name="wtgreen"/>
 		</visual>
 	</link>
 
@@ -81,9 +86,7 @@
 				<box size="0.016 0.044 0.02"/>
 			</geometry>
 			<origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
-			<material name="green">
-				<color rgba="0 1 0 0.8"/>
-			</material>
+			<material name="wtgreen"/>
 		</visual>
 	</link>
 
@@ -93,9 +96,17 @@
 				<box size="0.016 0.044 0.02"/>
 			</geometry>
 			<origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
-			<material name="green">
-				<color rgba="0 1 0 0.8"/>
-			</material>
+			<material name="wtgreen"/>
+		</visual>
+	</link>
+
+	<link name="antenna">
+		<visual>
+			<geometry>
+				<cylinder radius="0.006" length="0.165"/>
+			</geometry>
+			<origin xyz="0 0 0.0825" rpy="0 0 0"/>
+			<material name="wtblack"/>
 		</visual>
 	</link>
 
@@ -135,6 +146,12 @@
 		<origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 0"/>
 	</joint>
 
+	<joint name="antenna_joint" type="fixed">
+		<parent link="mounting_plate"/>
+		<child link="antenna"/>
+		<origin xyz="0.011 0.0588 0" rpy="0 0 0"/>
+	</joint>
+
 	<joint name="lidar_joint" type="fixed">
 		<parent link="mounting_plate"/>
 		<child link="lidar"/>
diff --git a/urdf/wild_thumper_with_manipulator.urdf.xacro b/urdf/wild_thumper_with_manipulator.urdf.xacro
index 3144258..2462a8c 100644
--- a/urdf/wild_thumper_with_manipulator.urdf.xacro
+++ b/urdf/wild_thumper_with_manipulator.urdf.xacro
@@ -6,7 +6,7 @@
 
 	<joint name="open_manipulator_joint" type="fixed">
 		<parent link="mounting_plate"/>
-		<child link="link1"/>
+		<child link="open_manipulator_base"/>
 		<origin xyz="-0.075 0.0 0.045" rpy="0 0 ${PI}"/>
 	</joint>
 </robot>
-- 
2.39.2