update robot.urdf.xacro urdf like mentioned at issue #32 (#48)

* update urdf issue#32 suggests * align z-axis in sensor_link with one in tool0
fzi-forschungszentrum-informatik · Jan 22, 2022 · 342272a · 342272a
1 parent 529bda7
commit 342272a
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/cartesian_controller_examples/urdf/robot.urdf.xacro b/cartesian_controller_examples/urdf/robot.urdf.xacro
@@ -220,8 +220,8 @@
         </link>
 
         <joint name="tool0_joint" type="fixed">
-                <origin xyz="0 ${link6_length} 0" rpy="${-pi / 2.0} 0 0"/>
-                <parent link="link6"/>
+                <origin xyz="0 0 ${link6_length / 2.0}" rpy="0 0 0"/>
+                <parent link="sensor_link"/>
                 <child link="tool0"/>
         </joint>
         <link name="tool0">
@@ -237,7 +237,7 @@
 
         <!-- Attach a sensor link -->
         <joint name="sensor_link_joint" type="fixed">
-                <origin xyz="0 ${link6_length / 2.0} 0" rpy="${-pi / 2.0} 0 ${pi / 2.0}"/>
+                <origin xyz="0 ${link6_length / 2.0} 0" rpy="${-pi / 2.0} 0 0"/>
                 <parent link="link6"/>
                 <child link="sensor_link"/>
         </joint>