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[TOPFLEET HACK] Update GPS and LiDAR configurations in hunter_pltf.urdf.xacro #27

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[TOPFLEET HACK] Update GPS and LiDAR configurations in hunter_pltf.urdf.xacro #27

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11 changes: 6 additions & 5 deletions hunter_pltf_description/description/hunter_pltf.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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>