Skip to content
Snippets Groups Projects
Commit deff2c9d authored by Jules Royer's avatar Jules Royer
Browse files

Dernière ligne droite

parent a7863895
No related branches found
No related tags found
No related merge requests found
......@@ -23,10 +23,6 @@
to="/icpr_robotsimu_results/laser_scan" />
</node>
<node name="lidar_rotation"
pkg="icpr_robotsimu_results"
type="lidar_rotation_node" />
<node name="joint_state_publisher"
pkg="joint_state_publisher"
type="joint_state_publisher" />
......@@ -35,6 +31,10 @@
pkg="robot_state_publisher"
type="robot_state_publisher" />
<node name="lidar_rotation"
pkg="icpr_robotsimu_results"
type="lidar_rotation_node" />
<node name="periodic_snapshotter"
pkg="icpr_robotsimu_results"
type="periodic_snapshotter_node" />
......@@ -44,7 +44,7 @@
type="point_cloud_assembler">
<param name="fixed_frame"
type="string"
value="camera_link"/>
value="'camera_link'"/>
</node>
<!-- Spawn robot in gazebo -->
......
......@@ -14,25 +14,27 @@
<axis xyz="0.00000000e+00 1.00000000e+00 0.00000000e+00"/>
<limit effort="-1.0" lower="-1.79769e+308" upper="1.79769e+308" velocity="-1.0"/>
</joint>
<joint name="serge_axe_roue_1" type="revolute">
<parent link="serge_corps"/>
<child link="serge_axe_roue_1"/>
<origin rpy="0 1.5707 1.5707" xyz="0.47404 0.63001 -0.10338"/>
<axis xyz="0.00000000e+00 1.00000000e+00 0.00000000e+00"/>
<axis xyz="0 1 0"/>
<limit effort="-1.0" lower="-1.79769e+308" upper="1.79769e+308" velocity="-1.0"/>
</joint>
<joint name="serge_axe_boule" type="continuous">
<parent link="serge_corps"/>
<child link="serge_boule"/>
<origin rpy="0 0 0" xyz="-1.14483 0.00498 -0.20338"/>
<axis xyz="0 0 0"/>
<origin rpy="0 1.5707 1.5707" xyz="-1.14483 0.00498 -0.20338"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="0" upper="0" velocity="0"/>
</joint>
<!-- Camera -->
<joint name="camera_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz="-1.145 0 0.31" rpy="0 0 3.14"/>
<axis xyz="0 0 1" />
<origin xyz="-1.44483 0.00498 0.32338" rpy="0 0 3.14"/>
<parent link="serge_corps"/>
<child link="camera_link"/>
</joint>
......@@ -44,7 +46,6 @@
<box size="${camera_link_pp} ${camera_link_pp} ${camera_link_pp}"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
......@@ -52,9 +53,8 @@
</geometry>
<material name="red"/>
</visual>
<inertial>
<mass value="1e-5" />
<mass value="1e-10" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment