From 324c81647e1283aad9b5f0e7ac23b576728d8f70 Mon Sep 17 00:00:00 2001
From: lfreixas <lfreixas@iri.upc.edu>
Date: Tue, 14 Jun 2016 12:28:26 +0200
Subject: [PATCH] modified dexter.yaml and dexter.xacro
---
bioloid_description/urdf/dexter.xacro | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/bioloid_description/urdf/dexter.xacro b/bioloid_description/urdf/dexter.xacro
index a8a845f..9b32148 100755
--- a/bioloid_description/urdf/dexter.xacro
+++ b/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">
--
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