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humanoides
bioloid_robot
Commits
3f62a3e2
Commit
3f62a3e2
authored
Jun 16, 2016
by
Laia Freixas Mateu
Browse files
added dexter.yaml and dexter.xacro files
parent
b0bc7f1c
Changes
2
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bioloid_control/config/dexter.yaml
View file @
3f62a3e2
...
...
@@ -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
...
...
bioloid_description/urdf/dexter.xacro
View file @
3f62a3e2
...
...
@@ -10,16 +10,28 @@
<origin xyz="0 0.0 0.035" rpy="-1.5707 -1.5707 0" />
</xacro:sharp_ir>
<xacro:sharp_ir name="IR
2
" parent="base_link" update_rate="20" fov="0.05" min_range="0.
1
" max_range="
0.8
">
<xacro:sharp_ir
_long
name="IR
L1
" 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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