added dexter.yaml and dexter.xacro files

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

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>