From acf67fbc0daa8e1100344522b7d5bbd2f89cccea Mon Sep 17 00:00:00 2001
From: "ly.pechvattana" <ly.pechvattana@ecam.fr>
Date: Tue, 29 Aug 2023 23:23:45 -0700
Subject: [PATCH] debug urdf

---
 .../src/simple_controller.cpp                 |  4 +-
 .../urdf/turtlebot.urdf.xacro                 | 49 ++++++++++++++-----
 2 files changed, 38 insertions(+), 15 deletions(-)

diff --git a/src/turtlebot_controller/src/simple_controller.cpp b/src/turtlebot_controller/src/simple_controller.cpp
index 7066c28..8681c91 100644
--- a/src/turtlebot_controller/src/simple_controller.cpp
+++ b/src/turtlebot_controller/src/simple_controller.cpp
@@ -21,9 +21,9 @@ SimpleController::SimpleController(const ros::NodeHandle &nh,
     ROS_INFO_STREAM("Using wheel separation " << separation);
     right_cmd_pub_ = nh_.advertise<std_msgs::Float64>("wheel_right_controller/command", 10);
     left_cmd_pub_ = nh_.advertise<std_msgs::Float64>("wheel_left_controller/command", 10);
-    vel_sub_ = nh_.subscribe("kubot_description/cmd_vel", 1000, &SimpleController::velCallback, this);
+    vel_sub_ = nh_.subscribe("turtlebot_controller/cmd_vel", 1000, &SimpleController::velCallback, this);
     joint_sub_ = nh_.subscribe("joint_states", 1000, &SimpleController::jointCallback, this);
-    odom_pub_ = nh_.advertise<nav_msgs::Odometry>("kubot_description/odom", 10);
+    odom_pub_ = nh_.advertise<nav_msgs::Odometry>("turtlebot_controller/odom", 10);
 
     speed_conversion_ << radius/2, radius/2, radius/separation, -radius/separation;
     ROS_INFO_STREAM("The conversion matrix is \n" << speed_conversion_);
diff --git a/src/turtlebot_description/urdf/turtlebot.urdf.xacro b/src/turtlebot_description/urdf/turtlebot.urdf.xacro
index 7a52a97..6e2de4d 100644
--- a/src/turtlebot_description/urdf/turtlebot.urdf.xacro
+++ b/src/turtlebot_description/urdf/turtlebot.urdf.xacro
@@ -89,7 +89,24 @@
             </inertial>
     </link>
 
-    <link name="caster_back_right_link">
+    <link name="caster_link">
+        <collision>
+            <origin xyz="0 0.001 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="0.030 0.009 0.020"/>
+            </geometry>
+        </collision>
+
+        <inertial>
+            <origin xyz="0 0 0" />
+            <mass value="0.005" />
+            <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+        </inertial>            
+    </link>
+
+    <!-- <link name="caster_back_right_link">
         <collision>
             <origin xyz="0 0.001 0" rpy="0 0 0"/>
             <geometry>
@@ -121,7 +138,7 @@
                iyy="0.001" iyz="0.0"
                izz="0.001" />
         </inertial>
-    </link>
+    </link> -->
 
     <link name="imu_link"/>
 
@@ -149,7 +166,7 @@
                izz="0.001" />
         </inertial>
     </link>
-
+<!-- 
     <link name="camera_link">
         <collision>
         <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
@@ -157,11 +174,11 @@
             <box size="0.015 0.030 0.027"/>
         </geometry>
         </collision>
-    </link>
+    </link> -->
 
-    <link name="camera_rgb_frame"/>
+    <!-- <link name="camera_rgb_frame"/> -->
 
-    <link name="camera_rgb_optical_frame"/>
+    <!-- <link name="camera_rgb_optical_frame"/> -->
 
     <joint name="base_joint" type="fixed">
         <parent link="base_footprint"/>
@@ -182,7 +199,7 @@
         <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
         <axis xyz="0 0 1"/>
     </joint>
-
+    <!-- 
     <joint name="caster_back_right_joint" type="fixed">
         <parent link="base_link"/>
         <child link="caster_back_right_link"/>
@@ -193,6 +210,12 @@
         <parent link="base_link"/>
         <child link="caster_back_left_link"/>
         <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
+    </joint> -->
+
+    <joint name="caster__joint" type="fixed">
+        <parent link="base_link"/>
+        <child link="caster_link"/>
+        <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
     </joint>
 
     <joint name="imu_joint" type="fixed">
@@ -207,22 +230,22 @@
         <origin xyz="-0.024 0 0.122" rpy="0 0 0"/> 
     </joint>
 
-    <joint name="camera_joint" type="fixed">
+    <!-- <joint name="camera_joint" type="fixed">
         <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
         <parent link="base_link"/>
         <child link="camera_link"/>
-    </joint>
-
+    </joint> -->
+<!-- 
     <joint name="camera_rgb_joint" type="fixed">
         <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
         <parent link="camera_link"/>
         <child link="camera_rgb_frame"/>
-    </joint>
+    </joint> -->
 
-    <joint name="camera_rgb_optical_joint" type="fixed">
+    <!-- <joint name="camera_rgb_optical_joint" type="fixed">
         <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
         <parent link="camera_rgb_frame"/>
         <child link="camera_rgb_optical_frame"/>
-    </joint>
+    </joint> -->
 
 </robot>
\ No newline at end of file