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wip: testing

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This commit is contained in:
Timo Schneider
2025-04-18 11:19:26 +02:00
parent ade1f91529
commit 2b450a6d86
5 changed files with 46 additions and 38 deletions
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8
src/sherpa/urdf/sherpa.xacro
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@@ -27,10 +27,10 @@
<xacro:imu name="imu" parent="base" xyz="0 0 0.156" rpy="0 0 0" frequency="300"/>
<xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.15" rpy="0 0 0" model="vlp16" frequency="10" topic="/points"/>
<xacro:mecanum_wheel name="wheel_fr" parent="base" xyz=" 0.11 -0.11 0" rpy="0 0 0" direction="r" radius="0.04" mass="0.25"/>
<xacro:mecanum_wheel name="wheel_fl" parent="base" xyz=" 0.11 0.11 0" rpy="0 0 0" direction="l" radius="0.04" mass="0.25"/>
<xacro:mecanum_wheel name="wheel_br" parent="base" xyz="-0.11 -0.11 0" rpy="0 0 0" direction="l" radius="0.04" mass="0.25"/>
<xacro:mecanum_wheel name="wheel_bl" parent="base" xyz="-0.11 0.11 0" rpy="0 0 0" direction="r" radius="0.04" mass="0.25"/>
<xacro:mecanum_wheel name="wheel_fr" parent="base" xyz=" 0.31 -0.31 0" rpy="0 0 0" direction="r" radius="0.1" mass="10"/>
<xacro:mecanum_wheel name="wheel_fl" parent="base" xyz=" 0.31 0.31 0" rpy="0 0 0" direction="l" radius="0.1" mass="10"/>
<xacro:mecanum_wheel name="wheel_br" parent="base" xyz="-0.31 -0.31 0" rpy="0 0 0" direction="l" radius="0.1" mass="10"/>
<xacro:mecanum_wheel name="wheel_bl" parent="base" xyz="-0.31 0.31 0" rpy="0 0 0" direction="r" radius="0.1" mass="10"/>
<ros2_control name="SherpaSystem" type="system">
<hardware>