Update model #21
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Update model #21
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Veix123
approved these changes
Dec 17, 2025
kruusamae
reviewed
Jan 8, 2026
| <parent link="${prefix}base_footprint"/> | ||
| <child link="${prefix}base_link"/> | ||
| <origin xyz="0 0 ${frame_elevation}" rpy="0 0 0"/> | ||
| <origin xyz="0 0 0" rpy="0 0 ${frame_elevation}"/> |
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something's not right with the frame_elevation, it does not make sense to change it from xyz to rpy
kruusamae
reviewed
Jan 8, 2026
Comment on lines
+67
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+70
| <joint name="${prefix}base_joint_spacers" type="fixed"> | ||
| <parent link="${prefix}base_footprint"/> | ||
| <child link="${prefix}base_link_spacers"/> | ||
| <origin xyz="0 0 0" rpy="0 0 ${frame_elevation}"/> |
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only base_link should be jointed to base_footprint. the spacers should never be jointed to base_footprint. the entire robot should be functional without base_footprint, which is only a virtual helper link
kruusamae
requested changes
Jan 8, 2026
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kruusamae
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kruusamae
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something's not right with the base_footprint. double-check those parts. i added comments where i spotted something myself
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New wheels, metal spacers, launch color parameters, added components (encoder button, OLED screen)