Add base_link to mars_rover model (issue #11)

space-ros · Jan 30, 2024 · 84a825d · 84a825d
1 parent f911b65
commit 84a825d
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/models/curiosity_path/urdf/chassis.xacro b/models/curiosity_path/urdf/chassis.xacro
@@ -5,10 +5,17 @@
 
     <!-- Used for fixing robot to Gazebo 'chassis' -->
 	<link name="base_footprint" />
+	<link name="base_link" />
 
-	<joint name="base_joint" type="fixed">
+	<joint name="base_footprint_to_link" type="fixed">
 		<parent link="base_footprint"/>
+		<child link="base_link"/>
+	</joint>
+
+	<joint name="base_to_chassis" type="fixed">
+		<parent link="base_link"/>
 		<child link="chassis"/>
+		<origin rpy="0 0 1.57" xyz="0 0 0"/>
 	</joint>