Commit 3f62a3e2 authored by Laia Freixas Mateu's avatar Laia Freixas Mateu
Browse files

added dexter.yaml and dexter.xacro files

parent b0bc7f1c
......@@ -8,10 +8,11 @@ bioloid:
type: effort_controllers/BioloidControllerCM510
exp_adc8_frame: IR1_link
exp_adc7_frame: IRL1_link
exp_adc6_frame: LAT_IR_left_link
exp_adc5_frame: LAT_IR_right_link
adc3_frame: gyro_x
adc4_frame: gyro_y
exp_adc1_frame: IR2_link
exp_adc8_frame: IR3_link
exp_board_id: 192
exp_gpio0_frame: left_front_fwd_ir_link
exp_gpio1_frame: left_front_dwn_ir_link
......
......@@ -10,16 +10,28 @@
<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">
<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_long>
<!-- <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> -->
<!-- this is for the lateral sensors 3d component puts sensor vertical-->
<xacro:sharp_ir name="LAT_IR_left" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
<origin xyz="0.05 0.04 0.035" rpy="-1.5707 0 0" />
</xacro:sharp_ir>
<xacro:sharp_ir name="LAT_IR_right" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
<origin xyz="-0.03 0.04 0.035" rpy="-1.5707 3.1416 0" />
</xacro:sharp_ir>
<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_long>
<!-- <xacro:feet_ir left_parent="left_leg_ankle_roll" right_parent="right_leg_ankle_roll" update_rate="20" range="0.01"/>-->
<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">
<collision>
......
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