From 3f62a3e293bae373ffdb66ca93153bb4a9d0c20c Mon Sep 17 00:00:00 2001
From: lfreixas <lfreixas@iri.upc.edu>
Date: Thu, 16 Jun 2016 13:04:40 +0200
Subject: [PATCH] added dexter.yaml and dexter.xacro files
---
bioloid_control/config/dexter.yaml | 5 +++--
bioloid_description/urdf/dexter.xacro | 22 +++++++++++++++++-----
2 files changed, 20 insertions(+), 7 deletions(-)
diff --git a/bioloid_control/config/dexter.yaml b/bioloid_control/config/dexter.yaml
index d008e03..f87ff5e 100644
--- a/bioloid_control/config/dexter.yaml
+++ b/bioloid_control/config/dexter.yaml
@@ -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
diff --git a/bioloid_description/urdf/dexter.xacro b/bioloid_description/urdf/dexter.xacro
index 9b32148..da58db4 100755
--- a/bioloid_description/urdf/dexter.xacro
+++ b/bioloid_description/urdf/dexter.xacro
@@ -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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