From d20fe2517987e721b46fcbe764969adc2b203934 Mon Sep 17 00:00:00 2001
From: Florian Mirus <frm@ipa.fraunhofer.de>
Date: Mon, 11 May 2015 11:40:53 +0200
Subject: [PATCH] cob_hardware_config: added laser-calibration data for raw3-3

---
 .../raw3-3/urdf/calibration_default.urdf.xacro           | 9 +++++++++
 cob_hardware_config/raw3-3/urdf/properties.urdf.xacro    | 9 +++++++++
 2 files changed, 18 insertions(+)

diff --git a/cob_hardware_config/raw3-3/urdf/calibration_default.urdf.xacro b/cob_hardware_config/raw3-3/urdf/calibration_default.urdf.xacro
index 954457aca..ca9890cd0 100644
--- a/cob_hardware_config/raw3-3/urdf/calibration_default.urdf.xacro
+++ b/cob_hardware_config/raw3-3/urdf/calibration_default.urdf.xacro
@@ -87,4 +87,13 @@
 	
 	<property name="def_torso_bottom_ref" value="0.0"/>
 	<property name="def_torso_side_ref" value="0.0"/>
+
+	<!-- laser front/rear  mount positions | relative to base_link -->
+	<property name="def_laser_front_x" value="0.32501"/>
+	<property name="def_laser_rear_x" value="-0.32501"/>
+	<property name="def_laser_front_y" value="-0.232"/>
+	<property name="def_laser_rear_y" value="0.232"/>
+	<property name="def_laser_front_yaw" value="${-M_PI/4}"/>
+	<property name="def_laser_rear_yaw" value="${-M_PI*5/4}"/>
+
 </robot>
diff --git a/cob_hardware_config/raw3-3/urdf/properties.urdf.xacro b/cob_hardware_config/raw3-3/urdf/properties.urdf.xacro
index d78877be2..745588c3f 100644
--- a/cob_hardware_config/raw3-3/urdf/properties.urdf.xacro
+++ b/cob_hardware_config/raw3-3/urdf/properties.urdf.xacro
@@ -88,4 +88,13 @@
 	
 	<property name="torso_bottom_ref" value="${def_torso_bottom_ref+offset_torso_bottom_ref}"/>
 	<property name="torso_side_ref" value="${def_torso_side_ref+offset_torso_side_ref}"/>
+
+	<!-- laser mount positions | relative to base_link -->
+	<property name="laser_front_x" value="${def_laser_front_x+offset_laser_front_x}"/>
+	<property name="laser_rear_x" value="${def_laser_rear_x+offset_laser_rear_x}"/>
+	<property name="laser_front_y" value="${def_laser_front_y+offset_laser_front_y}"/>
+	<property name="laser_rear_y" value="${def_laser_rear_y+offset_laser_rear_y}"/>
+	<property name="laser_front_yaw" value="${def_laser_front_yaw+offset_laser_front_yaw}"/>
+	<property name="laser_rear_yaw" value="${def_laser_rear_yaw+offset_laser_rear_yaw}"/>
+
 </robot>