m5p3nc3r/ros-raspbot-v2
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Read constraints from the published URDF rather than hard code them.

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Also make the webui more responsive for small screens.
This commit is contained in:
Matt Spencer
2026-05-01 14:20:59 +00:00
parent ee71c80edd
commit 16ee4b8296
11 changed files with 221 additions and 60 deletions
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robot/src/raspbot_v2/urdf/raspbot_v2.urdf.xacro
+2 -2
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@@ -111,7 +111,7 @@
<child link="camera_pan_link"/>
<axis xyz="0 0 1"/>
<origin xyz="0 0 0.015" rpy="0 0 0"/>
<limit lower="-1.0472" upper="1.5708" effort="1.0" velocity="1.0"/>
<limit lower="-1.5708" upper="1.5708" effort="1.0" velocity="1.0"/>
</joint>
<!-- Tilt joint (pitch, around Y) -->
@@ -126,7 +126,7 @@
<child link="camera_link"/>
<axis xyz="0 1 0"/>
<origin xyz="0.02 0 0" rpy="0 0 0"/>
<limit lower="-1.5708" upper="0.7854" effort="1.0" velocity="1.0"/>
<limit lower="-1.0472" upper="0.7854" effort="1.0" velocity="1.0"/>
</joint>
</robot>