From 61183d5dbc6df6c49f0c84d2a7a27cbb504c2102 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Tue, 11 Oct 2016 15:12:23 +0200
Subject: [PATCH] Improve the 2D backpack URDF. (#96)

---
 cartographer_ros/urdf/backpack_2d.urdf | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/cartographer_ros/urdf/backpack_2d.urdf b/cartographer_ros/urdf/backpack_2d.urdf
index 9db4efd..a976783 100644
--- a/cartographer_ros/urdf/backpack_2d.urdf
+++ b/cartographer_ros/urdf/backpack_2d.urdf
@@ -27,7 +27,7 @@
 
   <link name="imu_link">
     <visual>
-      <origin xyz="0.0 0.0 0.0" />
+      <origin xyz="0 0 0" />
       <geometry>
         <box size="0.06 0.04 0.02" />
       </geometry>
@@ -37,9 +37,9 @@
 
   <link name="horizontal_laser_link">
     <visual>
-      <origin xyz="0.0 0.0 0.0" />
+      <origin xyz="0 0 0" />
       <geometry>
-        <cylinder length="0.09" radius="0.03" />
+        <cylinder length="0.05" radius="0.03" />
       </geometry>
       <material name="gray" />
     </visual>
@@ -47,9 +47,9 @@
 
   <link name="vertical_laser_link">
     <visual>
-      <origin xyz="0.0 0.0 0.0" />
+      <origin xyz="0 0 0" />
       <geometry>
-        <cylinder length="0.09" radius="0.03" />
+        <cylinder length="0.05" radius="0.03" />
       </geometry>
       <material name="gray" />
     </visual>
@@ -60,18 +60,18 @@
   <joint name="imu_link_joint" type="fixed">
     <parent link="base_link" />
     <child link="imu_link" />
-    <origin xyz="0 0 0" rpy="0 0 3.1416" />
+    <origin xyz="0 0 0" rpy="0 0 3.141593" />
   </joint>
 
   <joint name="horizontal_laser_link_joint" type="fixed">
     <parent link="base_link" />
     <child link="horizontal_laser_link" />
-    <origin xyz="0.1251 0.0937 0.05262" />
+    <origin xyz="0.1007 0 0.0558" />
   </joint>
 
   <joint name="vertical_laser_link_joint" type="fixed">
     <parent link="base_link" />
     <child link="vertical_laser_link" />
-    <origin rpy="0.0 -1.57 3.14" xyz="0.1251 0.0937 0.17772" />
+    <origin rpy="0 -1.570796 3.141593" xyz="0.1007 0 0.1814" />
   </joint>
 </robot>