added feet_ir sensors again (which were deleted at some point)

bioloid_control/config/dexter.yaml

@@ -12,6 +12,7 @@ bioloid:
     exp_adc5_frame: LAT_IR_right_link
     exp_adc4_frame: IRLONG_link
     
+    
     adc3_frame: gyro_y
     adc4_frame: gyro_x
     exp_board_id: 192

bioloid_description/urdf/dexter.xacro

@@ -7,6 +7,12 @@
   <xacro:include filename="$(find bioloid_description)/urdf/pan_tilt.xacro" />
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/ids_xs.xacro" />
 
+<xacro:arg name="use_pan_tilt" default="false"/>
+<!--feet sensor-->
+
+
+  <xacro:feet_ir left_parent="left_leg_ankle_roll" right_parent="right_leg_ankle_roll" update_rate="20" range="0.01"/>
+<!--Two front sensors-->
 
   <xacro:sharp_ir name="IR1" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
     <origin xyz="-0.04 0.00 0.035" rpy="0 -1.745 0" />
@@ -14,22 +20,31 @@
   <xacro:sharp_ir name="IR2" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
     <origin xyz="0.04 0.00 0.035" rpy="0 -1.396 0" />
   </xacro:sharp_ir>
-  
+
+<!-- One long distance sensor-->  
     <xacro:sharp_ir name="IRLONG" parent="base_link" update_rate="20" fov="0.05" min_range="0.20" max_range="1.5">
     <origin xyz="0.00 -0.05 0.035" rpy="-1.5707 -1.5707 0" />
   </xacro:sharp_ir>
   
   
-  <!-- this is for the lateral sensors-->
-   <!-- <xacro:sharp_ir name="LAT_IR_left" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
+<!-- Two lateral sensors-->
+  <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="0.04 0.03 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="-0.04 0.03 0.035" rpy="-1.5707 3.1416 0" />
-  </xacro:sharp_ir> -->
-  
-  <xacro:feet_ir left_parent="left_leg_ankle_roll" right_parent="right_leg_ankle_roll" update_rate="20" range="0.01"/>
+  </xacro:sharp_ir>
+
 
+  <!-- this is for the back sensors
+  <xacro:sharp_ir name="BACK_IR_left" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
+    <origin xyz="0.04 0.00 -0.035" rpy="0 1.5707 0" />
+  </xacro:sharp_ir>    
+  <xacro:sharp_ir name="BACK_IR_right" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
+    <origin xyz="-0.04 0.00 -0.035" rpy="0 1.5707 0" />
+  </xacro:sharp_ir>  
+  <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>
       <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>