From 6e92baeae3169b688ddecf3d189b45aeeb3a8153 Mon Sep 17 00:00:00 2001 From: Kotochleb Date: Mon, 24 Jul 2023 13:05:23 +0000 Subject: [PATCH] Rename light_link to bumper_link --- panther_description/README.md | 4 ++-- panther_description/urdf/body.urdf.xacro | 28 ++++++++++++------------ 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/panther_description/README.md b/panther_description/README.md index b0ce39772..07c64c545 100644 --- a/panther_description/README.md +++ b/panther_description/README.md @@ -59,8 +59,8 @@ Evaluating [panther_macro.urdf.xacro](./urdf/panther_macro.urdf.xacro) following There are also links created for user to attach own sensors and components. The purpose of those links is to simplify localization of mounting points. Those are mentioned links: - `cover_link` at the level of the top surface of rails, located in the center of the robot. Positive `x` axis pointing in front of the robot, positive `z` axis pointing up from the robot, and positive `y` pointing to the left of a robot. -- `front_light_link` in front of the robot, at the height of v-slot of front lights. Exact height is in the middle of the v-slot. Position in `x` axis is the front surface of the v-slot, while in `y` axis it is the center of the robot. Rotation is same as `cover_link`. -- `rear_light_link` analogous to `front_light_link`, but mounted to the back of the robot. This reference frame has positive `x` facing to the back of a robot. Positive `z` is facing up and positive and `y` is facing to the right of a robot. +- `front_bumper_link` in front of the robot, at the height of v-slot of front bumpers. Exact height is in the middle of the v-slot. Position in `x` axis is the front surface of the v-slot, while in `y` axis it is the center of the robot. Rotation is same as `cover_link`. +- `rear_bumper_link` analogous to `front_bumper_link`, but mounted to the back of the robot. This reference frame has positive `x` facing to the back of a robot. Positive `z` is facing up and positive and `y` is facing to the right of a robot. ## Panther specific components configuration diff --git a/panther_description/urdf/body.urdf.xacro b/panther_description/urdf/body.urdf.xacro index f81311485..2203c7af0 100644 --- a/panther_description/urdf/body.urdf.xacro +++ b/panther_description/urdf/body.urdf.xacro @@ -50,37 +50,37 @@ - + - + - + - + - - + + - + - + - + - + - + - - + + - +