From d1d41088fc85e101ae40395e35534d201537ce7c Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 6 Jul 2016 11:25:12 +0200
Subject: [PATCH] modified sensor disposition for dexter
---
bioloid_description/urdf/dexter.xacro | 19 +++++++++----------
1 file changed, 9 insertions(+), 10 deletions(-)
diff --git a/bioloid_description/urdf/dexter.xacro b/bioloid_description/urdf/dexter.xacro
index 8f30778..525f0c8 100755
--- a/bioloid_description/urdf/dexter.xacro
+++ b/bioloid_description/urdf/dexter.xacro
@@ -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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