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Commit ac7e7d4a authored by Paul Rouanet's avatar Paul Rouanet
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Add spaces between joints

parent 8a46900d
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ros2_description_bolt/urdf/bolt/ros2_control/system_bolt.ros2_control.xacro
View file @ ac7e7d4a
...@@ -66,6 +66,7 @@ ...@@ -66,6 +66,7 @@
<param name="motor_reversed_polarity">${true}</param> <param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">0.238</param> <param name="position_offset">0.238</param>
</joint> </joint>
<joint name="FLHFE"> <joint name="FLHFE">
<command_interface name="position"> <command_interface name="position">
<param name="min">-1.7</param> <param name="min">-1.7</param>
...@@ -101,6 +102,7 @@ ...@@ -101,6 +102,7 @@
<param name="motor_reversed_polarity">${true}</param> <param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">-0.308</param> <param name="position_offset">-0.308</param>
</joint> </joint>
<joint name="FLK"> <joint name="FLK">
<command_interface name="position"> <command_interface name="position">
<param name="min">-3.4</param> <param name="min">-3.4</param>
...@@ -136,6 +138,7 @@ ...@@ -136,6 +138,7 @@
<param name="motor_reversed_polarity">${true}</param> <param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">0.276</param> <param name="position_offset">0.276</param>
</joint> </joint>
<joint name="FRHAA"> <joint name="FRHAA">
<command_interface name="position"> <command_interface name="position">
<param name="min">-0.5</param> <param name="min">-0.5</param>
...@@ -171,6 +174,7 @@ ...@@ -171,6 +174,7 @@
<param name="motor_reversed_polarity">${true}</param> <param name="motor_reversed_polarity">${true}</param>
<param name="position_offset">-0.115</param> <param name="position_offset">-0.115</param>
</joint> </joint>
<joint name="FRHFE"> <joint name="FRHFE">
<command_interface name="position"> <command_interface name="position">
<param name="min">-1.7</param> <param name="min">-1.7</param>
...@@ -206,6 +210,7 @@ ...@@ -206,6 +210,7 @@
<param name="motor_reversed_polarity">${false}</param> <param name="motor_reversed_polarity">${false}</param>
<param name="position_offset">-0.584</param> <param name="position_offset">-0.584</param>
</joint> </joint>
<joint name="FRK"> <joint name="FRK">
<command_interface name="position"> <command_interface name="position">
<param name="min">-3.4</param> <param name="min">-3.4</param>
...@@ -241,6 +246,7 @@ ...@@ -241,6 +246,7 @@
<param name="motor_reversed_polarity">${false}</param> <param name="motor_reversed_polarity">${false}</param>
<param name="position_offset">0.432</param> <param name="position_offset">0.432</param>
</joint> </joint>
<sensor name="IMU"> <sensor name="IMU">
<state_interface name="gyroscope"/> <state_interface name="gyroscope"/>
<state_interface name="accelerometer"/> <state_interface name="accelerometer"/>
......
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