diff --git a/urdf/rs_bpearl.urdf.xacro b/urdf/rs_bpearl.urdf.xacro index 9a05ad2..b83d8f6 100644 --- a/urdf/rs_bpearl.urdf.xacro +++ b/urdf/rs_bpearl.urdf.xacro @@ -1,39 +1,50 @@ - - - - - - - + + - + - - - + - - + - - + - @@ -42,42 +53,49 @@ - + - + - - - + + - - + - - - 0.5 0.5 0.5 1.0 - 0.250754 0.250754 0.250754 1.0 - 0.2508273 0.2508273 0.2508273 1.0 - 0.0 0.0 0.0 0.0 - - + + + 0.5 0.5 0.5 1.0 + 0.250754 0.250754 0.250754 1.0 + 0.2508273 0.2508273 0.2508273 1.0 + 0.0 0.0 0.0 0.0 + + - - - - - 1.2 0.2 0.2 1.0 - 0.250754 0.250754 0.250754 1.0 - 0.2508273 0.2508273 0.2508273 1.0 - 0.0 0.0 0.0 0.0 - - + + + 1.2 0.2 0.2 1.0 + 0.250754 0.250754 0.250754 1.0 + 0.2508273 0.2508273 0.2508273 1.0 + 0.0 0.0 0.0 0.0 + + - @@ -85,41 +103,38 @@ - - 0 0 0 0 0 0.0 - false - ${fps} - - - - - ${samples} - -${hfov/2*M_PI/180.0} - ${hfov/2*M_PI/180.0} - - - ${lasers} - -${5*M_PI/180.0} - ${(vfov-10)*M_PI/180.0} - - - - ${range_min} - ${range_max} - 0.01 - - - none - - - - ${prefix_topic}/points${suffix_topic} - /${prefix}_link - 0.008 - - + + 0 0 0 0 0 0 + false + ${fps} + + + + ${samples} + -${radians(hfov/2)} + ${radians(hfov/2)} + + + ${lasers} + ${radians(0.5)} + ${radians(vfov-5)} + + + + ${range_min} + ${range_max} + 0.01 + + + none + + + + ${prefix_topic}/points${suffix_topic} + /${prefix}_link + 0.008 + + - -