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Commit 649af8a6 authored by Dave Niewinski's avatar Dave Niewinski
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Added some additional frames on the top plates and an environment variable for... 

Added some additional frames on the top plates and an environment variable for diabling the user rails
parent 5f1e46c0
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husky_description/urdf/decorations.urdf.xacro
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...@@ -45,21 +45,23 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI ...@@ -45,21 +45,23 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<child link="top_chassis_link" /> <child link="top_chassis_link" />
</joint> </joint>
<!-- Spawn user rails --> <xacro:if value="$(optenv HUSKY_USER_RAIL_ENABLED true)">
<link name="user_rail_link"> <!-- Spawn user rails -->
<visual> <link name="user_rail_link">
<geometry> <visual>
<mesh filename="package://husky_description/meshes/user_rail.dae" /> <geometry>
</geometry> <mesh filename="package://husky_description/meshes/user_rail.dae" />
</visual> </geometry>
</link> </visual>
</link>
<!-- Attach user rails to base link --> <!-- Attach user rails to base link -->
<joint name="user_rail" type="fixed"> <joint name="user_rail" type="fixed">
<origin xyz="0.272 0 0.245" rpy="0 0 0" /> <origin xyz="0.272 0 0.245" rpy="0 0 0" />
<parent link="base_link" /> <parent link="base_link" />
<child link="user_rail_link" /> <child link="user_rail_link" />
</joint> </joint>
</xacro:if>
<!-- Spawn front bumper link --> <!-- Spawn front bumper link -->
<link name="front_bumper_link"> <link name="front_bumper_link">
...@@ -138,6 +140,18 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI ...@@ -138,6 +140,18 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<child link="top_plate_link"/> <child link="top_plate_link"/>
<origin xyz="0.0812 0 0.225" rpy="0 0 0"/> <origin xyz="0.0812 0 0.225" rpy="0 0 0"/>
</joint> </joint>
<!-- Top plate front link -->
<joint name="top_plate_front_joint" type="fixed">
<parent link="top_plate_link" />
<child link="top_plate_front_link"/>
<origin xyz="0.4125 0 0.00672" rpy="0 0 0"/>
</joint>
<!-- Top plate rear link-->
<joint name="top_plate_rear_joint" type="fixed">
<parent link="top_plate_link" />
<child link="top_plate_rear_link"/>
<origin xyz="-0.4125 0 0.00672" rpy="0 0 0"/>
</joint>
</xacro:if> </xacro:if>
<xacro:unless value="$(optenv HUSKY_LARGE_TOP_PLATE false)"> <xacro:unless value="$(optenv HUSKY_LARGE_TOP_PLATE false)">
...@@ -161,15 +175,27 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI ...@@ -161,15 +175,27 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</geometry> </geometry>
</collision> </collision>
</link> </link>
<!-- Attach top plate --> <!-- Attach top plate -->
<joint name="top_plate_joint" type="fixed"> <joint name="top_plate_joint" type="fixed">
<parent link="base_link" /> <parent link="base_link" />
<child link="top_plate_link"/> <child link="top_plate_link"/>
<origin xyz="0.0812 0 0.245" rpy="0 0 0"/> <origin xyz="0.0812 0 0.245" rpy="0 0 0"/>
</joint> </joint>
<!-- Top plate front link -->
<joint name="top_plate_front_joint" type="fixed">
<parent link="top_plate_link" />
<child link="top_plate_front_link"/>
<origin xyz="0.36367 0 0.00639" rpy="0 0 0"/>
</joint>
<!-- Top plate rear link-->
<joint name="top_plate_rear_joint" type="fixed">
<parent link="top_plate_link" />
<child link="top_plate_rear_link"/>
<origin xyz="-0.36633 0 0.00639" rpy="0 0 0"/>
</joint>
</xacro:unless> </xacro:unless>
<link name="top_plate_front_link"/>
<link name="top_plate_rear_link"/>
</xacro:if> </xacro:if>
</xacro:macro> </xacro:macro>
......
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