allow laser calibration

Author: fmessmer

raw_description/urdf/base_long/base.urdf.xacro

@@ -32,12 +32,6 @@
   <property name="battery_size_y" value="0.148" />
   <property name="battery_size_z" value="0.26" />
 
-  <property name="base_laser_x" value="0.465" />
-  <property name="base_laser_y_back" value="0.23" />
-  <property name="base_laser_y_front" value="0.232" />
-  <property name="base_laser_z" value="0.178" />
-
-
   <!-- battery macros-->
   <xacro:macro name="cob_batteries" params="name parent *origin ">
     <joint name="${name}_battery_joint" type="fixed">
@@ -124,14 +118,14 @@
 
     <!-- base laser front -->
     <xacro:sick_s300_laser_v0 name="${name}_laser_front" parent="${name}" ros_topic="scan_front_raw" update_rate="10" min_angle="-2.3562" max_angle="2.3562" >
-      <origin xyz="${base_laser_x} ${-base_laser_y_front} ${base_laser_z}" rpy="${M_PI} 0 ${-M_PI/4}" />
+      <origin xyz="${laser_front_x} ${laser_front_y} ${laser_front_z}" rpy="${laser_front_roll} ${laser_front_pitch} ${laser_front_yaw}" />
     </xacro:sick_s300_laser_v0>
 
     <!-- base laser rear -->
     <xacro:sick_s300_laser_v0 name="${name}_laser_rear" parent="${name}" ros_topic="scan_rear_raw" update_rate="10" min_angle="-2.3562" max_angle="2.3562" >
-      <origin xyz="${-base_laser_x} ${base_laser_y_back} ${base_laser_z}" rpy="${M_PI} 0 ${-5*M_PI/4}" />
+      <origin xyz="${laser_rear_x} ${laser_rear_y} ${laser_rear_z}" rpy="${laser_rear_roll} ${laser_rear_pitch} ${laser_rear_yaw}" />
     </xacro:sick_s300_laser_v0>
-
+ 
     <!-- cam3d -->
     <!--xacro:cob_kinect_v0 name="${name}_cam3d" ros_topic="cam3d" parent="${name}_link">
       <origin xyz="0.51 0.12 0.27" rpy="-${M_PI/2} 0 -${M_PI/2}" />

raw_description/urdf/base_short/base.urdf.xacro

@@ -30,11 +30,6 @@
   <property name="battery_size_y" value="0.148" />
   <property name="battery_size_z" value="0.26" />
 
-  <property name="base_laser_x" value="0.32501" />
-  <property name="base_laser_y_back" value="0.232" />
-  <property name="base_laser_y_front" value="0.232" />
-  <property name="base_laser_z" value="0.178" />
-
 
   <!-- battery macros-->
   <xacro:macro name="cob_batteries" params="name parent *origin ">
@@ -123,11 +118,13 @@
     <!-- base laser front -->
     <xacro:sick_s300_laser_v0 name="${name}_laser_front" parent="${name}" ros_topic="scan_front_raw" update_rate="10" min_angle="-2.3562" max_angle="2.3562" >
       <origin xyz="${base_laser_x} ${-base_laser_y_front} ${base_laser_z}" rpy="${M_PI} 0 ${-M_PI/4}" />
+      <origin xyz="${laser_front_x} ${laser_front_y} ${laser_front_z}" rpy="${laser_front_roll} ${laser_front_pitch} ${laser_front_yaw}" />
     </xacro:sick_s300_laser_v0>
 
     <!-- base laser rear -->
     <xacro:sick_s300_laser_v0 name="${name}_laser_rear" parent="${name}" ros_topic="scan_rear_raw" update_rate="10" min_angle="-2.3562" max_angle="2.3562" >
       <origin xyz="${-base_laser_x} ${base_laser_y_back} ${base_laser_z}" rpy="${M_PI} 0 ${-5*M_PI/4}" />
+      <origin xyz="${laser_front_x} ${laser_front_y} ${laser_front_z}" rpy="${laser_front_roll} ${laser_front_pitch} ${laser_front_yaw}" />
     </xacro:sick_s300_laser_v0>
 
     <!-- cam3d -->