From 5002d577a30626f06c592a9f6da6864f0b3f707d Mon Sep 17 00:00:00 2001
From: SimonR99 <simonroy99@hotmail.ca>
Date: Wed, 26 Jun 2024 00:32:36 +0200
Subject: [PATCH] add flipper url link

---
 src/rove_description/urdf/flipper.urdf.xacro |  7 +++++++
 src/rove_description/urdf/rove.urdf.xacro    | 10 ++++++++--
 src/rove_description/urdf/track.urdf.xacro   |  7 +++++++
 3 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/src/rove_description/urdf/flipper.urdf.xacro b/src/rove_description/urdf/flipper.urdf.xacro
index 8e07784..eb26c22 100644
--- a/src/rove_description/urdf/flipper.urdf.xacro
+++ b/src/rove_description/urdf/flipper.urdf.xacro
@@ -42,6 +42,13 @@
 
 
         <link name="flipper_${suffix}">
+            <visual>
+                <origin xyz="0 0 0" rpy="${mesh_rotation}" />
+                <geometry>
+                    <mesh filename="https://raw.githubusercontent.com/clubcapra/rove/main/src/rove_description/meshes/flipper.stl"/>
+                </geometry>
+                <material name="rubber_color" />
+            </visual>
             <visual>
                 <origin xyz="0 0 0" rpy="${mesh_rotation}" />
                 <geometry>
diff --git a/src/rove_description/urdf/rove.urdf.xacro b/src/rove_description/urdf/rove.urdf.xacro
index 5b3dad7..ea73cd1 100644
--- a/src/rove_description/urdf/rove.urdf.xacro
+++ b/src/rove_description/urdf/rove.urdf.xacro
@@ -20,6 +20,13 @@
     <!-- <xacro:include filename="$(find ovis_description)/urdf/ovis.urdf.xacro" /> -->
 
     <link name="base_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="https://raw.githubusercontent.com/clubcapra/rove/main/src/rove_description/meshes/base.stl"/>
+            </geometry>
+            <material name="frame_color"/>
+        </visual>
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
             <geometry>
@@ -40,11 +47,10 @@
         </inertial>
     </link>
 
-
     <!-- <xacro:rove_ros2_control/> -->
      <!-- Put these at -1 to mock the motors if working without the motors -->
+    <!-- <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/> -->
     <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/>
-    <!-- <xacro:odrive_control fl_id="-1" rl_id="-1" fr_id="-1" rr_id="-1"/> -->
 
 
     <!-- Insert ovis on top of rove -->
diff --git a/src/rove_description/urdf/track.urdf.xacro b/src/rove_description/urdf/track.urdf.xacro
index fa5a904..3c9d9b8 100644
--- a/src/rove_description/urdf/track.urdf.xacro
+++ b/src/rove_description/urdf/track.urdf.xacro
@@ -32,6 +32,13 @@
         </joint>
 
         <link name="track_${suffix}">
+            <visual>
+                <origin xyz="0 0 0"/>
+                <geometry>
+                    <mesh filename="https://raw.githubusercontent.com/clubcapra/rove/main/src/rove_description/meshes/track.stl"/>
+                </geometry>
+                <material name="rubber_color" />
+            </visual>
             <visual>
                 <origin xyz="0 0 0" rpy="0 0 0"/>
                 <geometry>