From 5bdf247c166b4277222b0abb6c8ae338a15f302a Mon Sep 17 00:00:00 2001
From: NestorDP <nestor-dp@hotmail.com>
Date: Thu, 11 Jan 2024 17:13:37 -0300
Subject: [PATCH] Basic forms to colision tags of the free wheell

---
 .../urdf/littlebot_body.urdf.xacro             | 18 +++++++++---------
 .../urdf/littlebot_description.urdf.xacro      |  6 +++---
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/littlebot_description/urdf/littlebot_body.urdf.xacro b/littlebot_description/urdf/littlebot_body.urdf.xacro
index 5f910a5..c8b8d45 100644
--- a/littlebot_description/urdf/littlebot_body.urdf.xacro
+++ b/littlebot_description/urdf/littlebot_body.urdf.xacro
@@ -52,7 +52,7 @@
 
     <!-- Modelagem caster wheel-->
     <!-- ********************************************************* -->
-    <!-- <link name="caster">
+    <link name="caster">
       <visual>
         <origin xyz="0 0 0" rpy="3.14 0 3.14" />
         <geometry>
@@ -63,7 +63,7 @@
       <collision>
         <origin xyz="0 0 0.0" rpy="3.14 0 3.14" />
         <geometry>
-          <mesh filename="file://$(find littlebot_description)/meshes/Caster_Wheel_Plate.dae" />
+          <box size="0.21 0.11 0.01"/>
         </geometry>
       </collision>
 
@@ -81,11 +81,11 @@
       <child link="caster"/>
       <origin xyz="-0.0871 0.0 -0.00875" rpy="0 0 0" />
       <axis xyz="0 0 1" rpy="0 0 0" />
-    </joint> -->
+    </joint>
 
     <!-- Modelagem free wheel-->
     <!-- ********************************************************* -->
-    <!-- <link name="free_wheel">
+    <link name="free_wheel">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -96,7 +96,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find littlebot_description)/meshes/Wheel.dae" />
+          <box size="0.21 0.11 0.01"/>
         </geometry>
       </collision>
 
@@ -114,11 +114,11 @@
       <child link="free_wheel"/>
       <origin xyz="-0.015 0 -0.015" rpy="0 0 0" />
       <axis xyz="0 1 0" rpy="0 0 0" />
-    </joint> -->
+    </joint>
 
     <!-- Modelagem da IMU MPU-6050 "link" "joint" -->
     <!-- ********************************************************* -->
-    <!-- <link name="imu_link">
+    <link name="imu_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -128,7 +128,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find littlebot_description)/meshes/MPU_6050.dae" />
+          <box size="0.21 0.11 0.01"/>
         </geometry>
       </collision>
       <inertial>
@@ -144,6 +144,6 @@
       <parent link="chassis_link"/>
       <child link="imu_link"/>
       <origin xyz="0.028 0.0 0.005" rpy="0 0 0" />
-    </joint> -->
+    </joint>
   </xacro:macro>
 </robot>
diff --git a/littlebot_description/urdf/littlebot_description.urdf.xacro b/littlebot_description/urdf/littlebot_description.urdf.xacro
index 95eeb1e..5df5d03 100755
--- a/littlebot_description/urdf/littlebot_description.urdf.xacro
+++ b/littlebot_description/urdf/littlebot_description.urdf.xacro
@@ -9,7 +9,7 @@
   <!-- Included URDF XACRO Files -->
   <xacro:include filename="$(find littlebot_description)/urdf/littlebot_body.urdf.xacro" />
   <xacro:include filename="$(find littlebot_description)/urdf/littlebot_wheel.urdf.xacro" />
-  <xacro:include filename="$(find littlebot_description)/urdf/littlebot_sonar.urdf.xacro" />
+  <!-- <xacro:include filename="$(find littlebot_description)/urdf/littlebot_sonar.urdf.xacro" /> -->
 
   <!-- Included GAZEBO XACRO Files -->
   <!-- <xacro:include filename="$(find littlebot_description)/gazebo/littlebot.gazebo.xacro" /> -->
@@ -34,10 +34,10 @@
   </xacro:littlebot_wheel>
 
   <!-- Sonar models-->
-  <xacro:littlebot_sonar sonar_numero="1">
+  <!-- <xacro:littlebot_sonar sonar_numero="1">
     <origin xyz="0 0 -0.020267" rpy="0 0 0" />
     <origin xyz="0.07879836 0.03772198 0.02500000" rpy="0 0 0.686455448" />
-  </xacro:littlebot_sonar>
+  </xacro:littlebot_sonar> -->
 
   <!-- <xacro:littlebot_sonar sonar_numero="2">
     <origin xyz="0 0 -0.020267" rpy="0 0 0" />