Updated mp_500 and mp_400 urdf

neobotix · Nov 28, 2024 · ab679b2 · ab679b2
1 parent fa7fdf8
commit ab679b2
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Showing 4 changed files with 20 additions and 20 deletions.
diff --git a/robots/mp_400/urdf/mp_400_body.urdf.xacro b/robots/mp_400/urdf/mp_400_body.urdf.xacro
@@ -3,15 +3,6 @@
 
     <link name="base_footprint"/>
 
-    <joint name="base_footprint_joint" type="fixed">
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <axis xyz="0 0 -1"/>
-        <!-- <limit effort="1000.0" lower="-1e+16" upper="1e+16" velocity="3.5"/> -->
-        <joint_properties damping="1" friction="1"/>
-        <parent link="base_footprint"/>
-        <child link="base_link"/>
-    </joint>
-
     <link name="base_link">
         <inertial>
             <mass value="30"/>
@@ -32,6 +23,15 @@
         </collision>
     </link>
 
+    <joint name="base_footprint_joint" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <axis xyz="0 0 -1"/>
+        <!-- <limit effort="1000.0" lower="-1e+16" upper="1e+16" velocity="3.5"/> -->
+        <joint_properties damping="1" friction="1"/>
+        <parent link="base_link"/>
+        <child link="base_footprint"/>
+    </joint>
+
     <!-- Sensors -->
     <joint name="lidar_1_joint" type="fixed">
         <axis xyz="0 1 0"/>

diff --git a/robots/mp_400/urdf/mp_400_gazebo.urdf.xacro b/robots/mp_400/urdf/mp_400_gazebo.urdf.xacro
@@ -30,7 +30,7 @@
         command_topic="cmd_vel"
         odometry_topic="odom"
         odom_frame="odom"
-        base_frame="base_footprint"
+        base_frame="base_link"
         max_wheel_torque="1000"
         max_acceleration="20.0"
     />

diff --git a/robots/mp_500/urdf/mp_500_body.urdf.xacro b/robots/mp_500/urdf/mp_500_body.urdf.xacro
@@ -3,15 +3,6 @@
 
     <link name="base_footprint"/>
 
-    <joint name="base_footprint_joint" type="fixed">
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <axis xyz="0 0 -1"/>
-        <!-- <limit effort="1000.0" lower="-1e+16" upper="1e+16" velocity="3.5"/> -->
-        <joint_properties damping="1" friction="1"/>
-        <parent link="base_footprint"/>
-        <child link="base_link"/>
-    </joint>
-
     <link name="base_link">
         <inertial>
             <mass value="5"/>
@@ -32,6 +23,15 @@
         </collision>
     </link>
 
+    <joint name="base_footprint_joint" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <axis xyz="0 0 -1"/>
+        <!-- <limit effort="1000.0" lower="-1e+16" upper="1e+16" velocity="3.5"/> -->
+        <joint_properties damping="1" friction="1"/>
+        <parent link="base_link"/>
+        <child link="base_footprint"/>
+    </joint>
+
     <joint name="caster_wheel_joint" type="fixed">
         <origin rpy="-1.570796 0 1.570796 " xyz="-0.43 0. 0.176"/>
         <axis xyz="0 -1 0"/>

diff --git a/robots/mp_500/urdf/mp_500_gazebo.urdf.xacro b/robots/mp_500/urdf/mp_500_gazebo.urdf.xacro
@@ -19,7 +19,7 @@
         command_topic="cmd_vel"
         odometry_topic="odom"
         odom_frame="odom"
-        base_frame="base_footprint"
+        base_frame="base_link"
         max_wheel_torque="200"
         max_acceleration="1.0"
     />