Minor changes

RoboJackets · Nov 1, 2024 · 3d545ab · 3d545ab
1 parent 656407c
commit 3d545ab
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/leo_description/urdf/macros.xacro b/leo_description/urdf/macros.xacro
@@ -4,7 +4,7 @@
   <xacro:macro name="leo" 
                params="default_antenna:=true
                        rockers_fixed:=false
-                       footprint_link:=false
+                       footprint_link:=true
                        link_prefix:=''
                        joint_prefix:=''
                        imu_translation:='0.0628 -0.0314 -0.0393'
@@ -494,7 +494,7 @@
     <gazebo>
       <plugin name="leo_gz::DifferentialSystem" filename="libleo_gz_differential_plugin.so">
         <jointA>rocker_L_joint</jointA>
-        <jointB>rgazeboocker_R_joint</jointB>
+        <jointB>rocker_R_joint</jointB>
         <forceConstant>100.0</forceConstant>
       </plugin>
     </gazebo>

diff --git a/urc_bringup/launch/bringup_simulation.launch.py b/urc_bringup/launch/bringup_simulation.launch.py
@@ -42,7 +42,7 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             os.path.join(pkg_gazebo_ros, "launch", "gazebo.launch.py"),
         ),
-        launch_arguments={"use_sim_time": "true", "world": world_path}.items(),  # "world": world_path
+        launch_arguments={"use_sim_time": "true"}.items(),  # "world": world_path
     )
 
     enable_color = SetEnvironmentVariable(name="RCUTILS_COLORIZED_OUTPUT", value="1")