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Rename light_link to bumper_link #151

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Jul 24, 2023
Merged

Rename light_link to bumper_link #151

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4 changes: 2 additions & 2 deletions panther_description/README.md
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Expand Up @@ -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

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28 changes: 14 additions & 14 deletions panther_description/urdf/body.urdf.xacro
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Expand Up @@ -50,37 +50,37 @@

<link name="imu_link" />

<joint name="body_to_front_light_joint" type="fixed">
<joint name="body_to_front_bumper_joint" type="fixed">
<origin xyz="0.362 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="body_link" />
<child link="front_light_link" />
<child link="front_bumper_link" />
</joint>

<link name="front_light_link" />
<link name="front_bumper_link" />

<joint name="front_light_to_front_animation_joint" type="fixed">
<joint name="front_bumper_to_front_light_joint" type="fixed">
<origin xyz="0.0 0.0 0.0185" rpy="${pi/2} 0.0 ${pi/2}" />
<parent link="front_light_link" />
<child link="front_animation_link" />
<parent link="front_bumper_link" />
<child link="front_light_link" />
</joint>

<link name="front_animation_link" />
<link name="front_light_link" />

<joint name="body_to_rear_light_joint" type="fixed">
<joint name="body_to_rear_bumper_joint" type="fixed">
<origin xyz="-0.362 0.0 0.0" rpy="0.0 0.0 ${pi}" />
<parent link="body_link" />
<child link="rear_light_link" />
<child link="rear_bumper_link" />
</joint>

<link name="rear_light_link" />
<link name="rear_bumper_link" />

<joint name="rear_light_to_rear_animation_joint" type="fixed">
<joint name="rear_bumper_to_rear_light_joint" type="fixed">
<origin xyz="0.0 0.0 0.0185" rpy="${pi/2} 0.0 ${pi/2}" />
<parent link="rear_light_link" />
<child link="rear_animation_link" />
<parent link="rear_bumper_link" />
<child link="rear_light_link" />
</joint>

<link name="rear_animation_link" />
<link name="rear_light_link" />

<joint name="body_to_cover_joint" type="fixed">
<origin xyz="0.0 0.0 0.1715" rpy="0.0 0.0 0.0" />
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