From b59d372438a69a461fe621a499897fd67fc370f5 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 2 Aug 2016 12:13:32 +0200
Subject: [PATCH] added feet_ir sensors again (which were deleted at some
point)
---
bioloid_control/config/dexter.yaml | 1 +
bioloid_description/urdf/dexter.xacro | 27 +++++++++++++++++++++------
2 files changed, 22 insertions(+), 6 deletions(-)
diff --git a/bioloid_control/config/dexter.yaml b/bioloid_control/config/dexter.yaml
index d61ddc1..d9cc86a 100644
--- a/bioloid_control/config/dexter.yaml
+++ b/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
diff --git a/bioloid_description/urdf/dexter.xacro b/bioloid_description/urdf/dexter.xacro
index bf84d95..3386b2b 100755
--- a/bioloid_description/urdf/dexter.xacro
+++ b/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"/>
--
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