Fixed URDF mesh offsets as well as camera frame offsets.

atomoclast · Jun 6, 2017 · 94a9f6d · 94a9f6d
1 parent 6a076d6
commit 94a9f6d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/bebop_description/urdf/bebop_base.urdf.xacro b/bebop_description/urdf/bebop_base.urdf.xacro
@@ -2,7 +2,7 @@
 <!-- Kinematic model, simplified visual, no collisions -->
 <robot name="bebop" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:property name="PI" value="3.1415926535897931" />
-  <xacro:property name="camera_offset_len" value="0.1" />
+  <xacro:property name="camera_offset_len" value="0.1651" />
   <xacro:property name="camera_offset_ver" value="0.0" />
   <!-- +- 35 degrees -->
   <xacro:property name="pan_range" value="0.6108652381980153" />
@@ -14,7 +14,7 @@
 
   <link name="base_link">
    <visual>
-    	  <origin rpy="0 -0.0254 0" xyz="0 0 0"/>
+    	  <origin xyz="0 -.0225 -0.02" rpy="0 -0.0254 0"/>
       <geometry>
         <mesh filename="package://bebop_description/meshes/bebop_model.stl"/>
       </geometry>