Update base_link to be under rear axle

This is more standard. Fixes osrf#16
smilejx · Jul 13, 2017 · 06b0bff · 06b0bff
1 parent e3e56da
commit 06b0bff
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/car_demo/launch/demo.launch b/car_demo/launch/demo.launch
@@ -28,7 +28,7 @@
     <param name="dev" value="/dev/input/js1"/>
   </node>
 
-  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -x 3 -y -12 -z 0.5 -Y 1.5708 -model prius"/>
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -x 3 -y -12 -z 0.5 -model prius"/>
 
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 </launch>
diff --git a/prius_description/urdf/prius.urdf b/prius_description/urdf/prius.urdf
@@ -35,7 +35,7 @@
   <joint name="base_link_connection" type="fixed">
     <parent link="base_link"/>
     <child link="chassis"/>
-    <origin xyz="1.45 0 0" rpy="0 0 0"/>
+    <origin xyz="1.45 0 0" rpy="0 0 1.57"/>
     <axis xyz="1 0 0"/>
   </joint>