From 01d1d6b9dbb0f3612a237fad48cf43a35de95ef7 Mon Sep 17 00:00:00 2001
From: LCAS <noreply@lcas.lincoln.ac.uk>
Date: Wed, 17 Dec 2025 12:10:42 +0000
Subject: [PATCH] Update GPS and LiDAR configurations in hunter_pltf.urdf.xacro

---
 .../description/hunter_pltf.urdf.xacro                | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/hunter_pltf_description/description/hunter_pltf.urdf.xacro b/hunter_pltf_description/description/hunter_pltf.urdf.xacro
index 12f7615..bb7b461 100755
--- a/hunter_pltf_description/description/hunter_pltf.urdf.xacro
+++ b/hunter_pltf_description/description/hunter_pltf.urdf.xacro
@@ -29,11 +29,12 @@
    <!-- <xacro:hunter_depth_camera name="fish_right_camera" x="0.495" y="0.08" z="0.93" is_sim="$(arg is_sim)"  yaw="1.57"/> -->
    <!-- <xacro:hunter_depth_camera name="fish_back_camera" x="0.179" y="0.00" z="1.28" is_sim="$(arg is_sim)" yaw="3.14" />-->
    <!-- <xacro:hunter_depth_camera name="fish_left_camera" x="0.495" y="-0.08" z="0.93" is_sim="$(arg is_sim)" yaw="-1.57" /> -->
-   <xacro:hunter_gps name="$(arg prefix)gps_base" is_sim="$(arg is_sim)" x="-0.25" y="0.0" z="0.47" yaw="0.0" />
-   <!-- <xacro:hunter_gps name="$(arg prefix)back_antenna" is_sim="$(arg is_sim)" x="-0.5" y="-0.245" z="0.80"/> -->
-   <!-- <xacro:hunter_gps name="$(arg prefix)front_antenna" is_sim="$(arg is_sim)" x="0.5" y="-0.245" z="0.80"/> -->
+   <!-- <xacro:hunter_gps name="$(arg prefix)gps_base" is_sim="$(arg is_sim)" x="-0.25" y="0.0" z="0.47" yaw="0.0" /> -->
+   <xacro:hunter_gps name="$(arg prefix)gps_base" is_sim="$(arg is_sim)" x="0.0" y="0.0" z="0.0" yaw="0.0"/>
+   <xacro:hunter_gps name="$(arg prefix)back_antenna" is_sim="$(arg is_sim)" x="-0.6" y="-0.29" z="1.02"/>
+   <xacro:hunter_gps name="$(arg prefix)front_antenna" is_sim="$(arg is_sim)" x="0.6" y="0.29" z="1.02"/>
 
-   <xacro:mid360 name="$(arg prefix)front_lidar_link" topic="front_lidar/points" origin_xyz="0.56 0.235 0.46" origin_rpy="${front_lidar_rpy}" is_sim="$(arg is_sim)"/>
-   <xacro:mid360 name="$(arg prefix)back_lidar_link" topic="back_lidar/points" origin_xyz="-0.56 -0.235 0.46" origin_rpy="${back_lidar_rpy}" is_sim="$(arg is_sim)"/>
+   <xacro:mid360 name="$(arg prefix)front_lidar_link" topic="front_lidar/points" origin_xyz="0.56 -0.30 0.46" origin_rpy="${front_lidar_rpy}" is_sim="$(arg is_sim)"/>
+   <xacro:mid360 name="$(arg prefix)back_lidar_link" topic="back_lidar/points" origin_xyz="-0.56 0.30 0.46" origin_rpy="${back_lidar_rpy}" is_sim="$(arg is_sim)"/>
 
 </robot>
\ No newline at end of file