modified dexter.yaml and dexter.xacro

bioloid_description/urdf/dexter.xacro

@@ -5,15 +5,20 @@
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/sharp_ir.xacro" />
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/feet_ir.xacro" />
 
+
   <xacro:sharp_ir name="IR1" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
     <origin xyz="0 0.0 0.035" rpy="-1.5707 -1.5707 0" />
   </xacro:sharp_ir>
+  
   <xacro:sharp_ir name="IR2" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
     <origin xyz="0 -0.05 0.035" rpy="-1.5707 -1.5707 0" />
   </xacro:sharp_ir>
-  <xacro:sharp_ir name="IR3" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
+  
+    <xacro:sharp_ir_long name="IRL1" parent="base_link" update_rate="20" fov="0.05" min_range="0.20" max_range="1.5">
     <origin xyz="0 0.05 0.035" rpy="-1.5707 -1.5707 0" />
-  </xacro:sharp_ir>
+  </xacro:sharp_ir_long>
+  
+  
 <!--  <xacro:feet_ir left_parent="left_leg_ankle_roll" right_parent="right_leg_ankle_roll" update_rate="20" range="0.01"/>-->
 
   <link name="battery_pack">