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unitree_ros
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change mass and camera rate

This commit is contained in:
ZFEI 2024-01-26 16:09:20 +08:00
parent 74339c0ea8
commit 50ae95d261
2 changed files with 4 additions and 3 deletions
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3
robots/z1_description/xacro/robot.xacro
View File

@ -331,7 +331,8 @@
<link name="link_gripper"> <link name="link_gripper">
<inertial> <inertial>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.290087803254386" /> <!-- <mass value="0.290087803254386" /> -->
<mass value="0" />
<inertia <inertia
ixx="0.000122722161885507" ixx="0.000122722161885507"
ixy="2.8456952860616E-06" ixy="2.8456952860616E-06"

4
robots/z1_description/xacro/sensors/intel_realsense.urdf.xacro
View File

@ -12,8 +12,8 @@
frame:=camera topic:=realsense frame:=camera topic:=realsense
h_fov:=1.5184351666666667 v_fov:=1.0122901111111111 h_fov:=1.5184351666666667 v_fov:=1.0122901111111111
min_range:=0.105 max_range:=15 min_range:=0.105 max_range:=15
width:=848 height:=480 width:=640 height:=480
update_rate:=15 update_rate:=30
robot_namespace:=/"> robot_namespace:=/">
<!-- this link is the origin for the camera's data --> <!-- this link is the origin for the camera's data -->