Commit d1d41088 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

modified sensor disposition for dexter

parent 8b28c0e0
......@@ -7,24 +7,23 @@
<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 0.0 0.035" rpy="-1.5707 -1.5707 0" />
<origin xyz="-0.04 0.00 0.035" rpy="0 -1.8326 0" />
</xacro:sharp_ir>
<xacro:sharp_ir 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 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 -1.3090 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">
<origin xyz="0 -0.05 0.035" rpy="-1.5707 -1.5707 0" />
</xacro:sharp_ir> -->
<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 3d component puts sensor vertical-->
<!-- 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">
<origin xyz="0.05 0.04 0.035" rpy="-1.5707 0 0" />
<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="-0.03 0.04 0.035" rpy="-1.5707 3.1416 0" />
<origin xyz="-0.04 0.03 0.035" rpy="-1.5707 3.1416 0" />
</xacro:sharp_ir>
......
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