Commit 324c8164 authored by Laia Freixas Mateu's avatar Laia Freixas Mateu
Browse files

modified dexter.yaml and dexter.xacro

parent ca6f36ef
......@@ -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">
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment