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Fix problems exposed trying to use URDF in RViz

* Neato laser needs to be moved up to compensate for
  base_link moving down to ground level.
* Neato laser needs to rotate 180 degrees to match
  sensor mount location
* A sphere was added to correspond to caster wheel.
* Drive wheels are "fixed" for now, at least until we can
  publish wheel angles.
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Roger-random committed Oct 5, 2018
1 parent ea001a2 commit e7d45ddbb5d3ce82a57a109cece01138ae4ca5fe
Showing with 18 additions and 2 deletions.
  1. +18 −2 urdf/phoebe.urdf.xacro
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@@ -56,7 +56,7 @@
<joint name="base_neato_joint" type="fixed">
<parent link="base_link"/>
<child link="neato_laser"/>
<origin xyz="${neato_offset_x} ${neato_offset_y} ${neato_offset_z}"/>
<origin xyz="${neato_offset_x} ${neato_offset_y} ${neato_offset_z + wheel_diameter/2}" rpy="0 0 ${pi}" />
</joint>
<xacro:macro name="wheel" params="side reflect">
@@ -69,7 +69,7 @@
<material name="wheel" />
</visual>
</link>
<joint name="base_wheel_${side}_joint" type="continuous">
<joint name="base_wheel_${side}_joint" type="fixed"> <!-- TODO: type="continuous" when we read encoder data and publish wheel angle -->
<axis xyz="0 1 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="wheel_${side}" />
@@ -79,4 +79,20 @@
<xacro:wheel side="left" reflect="1" />
<xacro:wheel side="right" reflect="-1" />
<link name="wheel_caster">
<visual>
<geometry>
<sphere radius="${wheel_diameter/2}" />
</geometry>
<material name="wheel" />
</visual>
</link>
<joint name="base_caster" type="fixed">
<parent link="base_link" />
<child link="wheel_caster" />
<origin xyz="${-body_center_to_cylinder-body_width/2+wheel_diameter/2} 0 ${wheel_diameter/2}" />
</joint>
</robot>

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