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kdl_parser
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minor change, base_laser --> base_laser_link link name update in test xmls.

This commit is contained in:
hsu 2009-11-25 17:58:49 +00:00
parent 713b6d6f52
commit 379fbc84eb
2 changed files with 10 additions and 10 deletions
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6
kdl_parser/test/pr2_desc.xml
View File

@ -129,7 +129,7 @@
</geometry> </geometry>
</collision> </collision>
</link><gazebo reference="base_laser_link"> </link><gazebo reference="base_laser_link">
<sensor:ray name="base_laser"> <sensor:ray name="base_laser_link">
<rayCount>640</rayCount> <rayCount>640</rayCount>
<rangeCount>640</rangeCount> <rangeCount>640</rangeCount>
<laserCount>1</laserCount> <laserCount>1</laserCount>
@ -144,13 +144,13 @@
<maxRange>10.0</maxRange> <maxRange>10.0</maxRange>
<resRange>0.01</resRange> <resRange>0.01</resRange>
<updateRate>20.0</updateRate> <updateRate>20.0</updateRate>
<controller:gazebo_ros_laser name="gazebo_ros_base_laser_controller" plugin="libgazebo_ros_laser.so"> <controller:gazebo_ros_laser name="gazebo_ros_base_laser_link_controller" plugin="libgazebo_ros_laser.so">
<gaussianNoise>0.005</gaussianNoise> <gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn> <alwaysOn>true</alwaysOn>
<updateRate>20.0</updateRate> <updateRate>20.0</updateRate>
<topicName>base_scan</topicName> <topicName>base_scan</topicName>
<frameName>base_laser_link</frameName> <frameName>base_laser_link</frameName>
<interface:laser name="gazebo_ros_base_laser_iface"/> <interface:laser name="gazebo_ros_base_laser_link_iface"/>
</controller:gazebo_ros_laser> </controller:gazebo_ros_laser>
</sensor:ray> </sensor:ray>
</gazebo><joint name="fl_caster_rotation_joint" type="continuous"> </gazebo><joint name="fl_caster_rotation_joint" type="continuous">

14
robot_state_publisher/test/pr2.urdf
View File

@ -112,8 +112,8 @@
</link><joint name="base_laser_joint" type="fixed"> </link><joint name="base_laser_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.275 0.0 0.252"/> <origin rpy="0 0 0" xyz="0.275 0.0 0.252"/>
<parent link="base_link"/> <parent link="base_link"/>
<child link="base_laser"/> <child link="base_laser_link"/>
</joint><link name="base_laser" type="laser"> </joint><link name="base_laser_link" type="laser">
<inertial> <inertial>
<mass value="1.0"/> <mass value="1.0"/>
@ -706,8 +706,8 @@
<rpyOffsets>0 0 0</rpyOffsets> <rpyOffsets>0 0 0</rpyOffsets>
<interface:position name="p3d_plug_holder_position"/> <interface:position name="p3d_plug_holder_position"/>
</controller:ros_p3d> </controller:ros_p3d>
</gazebo><gazebo reference="base_laser"> </gazebo><gazebo reference="base_laser_link">
<sensor:ray name="base_laser"> <sensor:ray name="base_laser_link">
<rayCount>640</rayCount> <rayCount>640</rayCount>
<rangeCount>640</rangeCount> <rangeCount>640</rangeCount>
<laserCount>1</laserCount> <laserCount>1</laserCount>
@ -721,13 +721,13 @@
<maxRange>10.0</maxRange> <maxRange>10.0</maxRange>
<resRange>0.01</resRange> <resRange>0.01</resRange>
<updateRate>20.0</updateRate> <updateRate>20.0</updateRate>
<controller:ros_laser name="ros_base_laser_controller" plugin="libros_laser.so"> <controller:ros_laser name="ros_base_laser_link_controller" plugin="libros_laser.so">
<gaussianNoise>0.005</gaussianNoise> <gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn> <alwaysOn>true</alwaysOn>
<updateRate>20.0</updateRate> <updateRate>20.0</updateRate>
<topicName>base_scan</topicName> <topicName>base_scan</topicName>
<frameName>base_laser</frameName> <frameName>base_laser_link</frameName>
<interface:laser name="ros_base_laser_iface"/> <interface:laser name="ros_base_laser_link_iface"/>
</controller:ros_laser> </controller:ros_laser>
</sensor:ray> </sensor:ray>
<material value="PR2/Red"/> <material value="PR2/Red"/>