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Improve the 2D backpack URDF. (#96)

master
Wolfgang Hess 2016-10-11 15:12:23 +02:00 committed by GitHub
parent 2631799820
commit 61183d5dbc
1 changed files with 8 additions and 8 deletions
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16
cartographer_ros/urdf/backpack_2d.urdf
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@ -27,7 +27,7 @@
<link name="imu_link"> <link name="imu_link">
<visual> <visual>
<origin xyz="0.0 0.0 0.0" /> <origin xyz="0 0 0" />
<geometry> <geometry>
<box size="0.06 0.04 0.02" /> <box size="0.06 0.04 0.02" />
</geometry> </geometry>
@ -37,9 +37,9 @@
<link name="horizontal_laser_link"> <link name="horizontal_laser_link">
<visual> <visual>
<origin xyz="0.0 0.0 0.0" /> <origin xyz="0 0 0" />
<geometry> <geometry>
<cylinder length="0.09" radius="0.03" /> <cylinder length="0.05" radius="0.03" />
</geometry> </geometry>
<material name="gray" /> <material name="gray" />
</visual> </visual>
@ -47,9 +47,9 @@
<link name="vertical_laser_link"> <link name="vertical_laser_link">
<visual> <visual>
<origin xyz="0.0 0.0 0.0" /> <origin xyz="0 0 0" />
<geometry> <geometry>
<cylinder length="0.09" radius="0.03" /> <cylinder length="0.05" radius="0.03" />
</geometry> </geometry>
<material name="gray" /> <material name="gray" />
</visual> </visual>
@ -60,18 +60,18 @@
<joint name="imu_link_joint" type="fixed"> <joint name="imu_link_joint" type="fixed">
<parent link="base_link" /> <parent link="base_link" />
<child link="imu_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>
<joint name="horizontal_laser_link_joint" type="fixed"> <joint name="horizontal_laser_link_joint" type="fixed">
<parent link="base_link" /> <parent link="base_link" />
<child link="horizontal_laser_link" /> <child link="horizontal_laser_link" />
<origin xyz="0.1251 0.0937 0.05262" /> <origin xyz="0.1007 0 0.0558" />
</joint> </joint>
<joint name="vertical_laser_link_joint" type="fixed"> <joint name="vertical_laser_link_joint" type="fixed">
<parent link="base_link" /> <parent link="base_link" />
<child link="vertical_laser_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> </joint>
</robot> </robot>