add flipper url link

clubcapra · Jun 25, 2024 · 5002d57 · 5002d57
1 parent 31da099
commit 5002d57
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Showing 3 changed files with 22 additions and 2 deletions.
diff --git 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
@@ -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
@@ -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>