From 68a8747c23e73b52414fb6c110d5d736d62ba35e Mon Sep 17 00:00:00 2001
From: Charlie Jenkins <thecharlesjenkins@gmail.com>
Date: Mon, 6 Sep 2021 17:03:55 -0400
Subject: [PATCH 1/4] Correct lidar and imu

---
 rr_description/urdf/evgp.urdf.xacro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/rr_description/urdf/evgp.urdf.xacro b/rr_description/urdf/evgp.urdf.xacro
index 3272234a7..b9f9e2442 100644
--- a/rr_description/urdf/evgp.urdf.xacro
+++ b/rr_description/urdf/evgp.urdf.xacro
@@ -163,7 +163,7 @@
     <joint name="base_footprint_to_lidar" type="fixed">
         <parent link="base_footprint"/>
         <child link="lidar"/>
-        <origin xyz="1.2 0 0.18" rpy="0 0 0"/>
+        <origin xyz=".825 -.19 0.27875" rpy="0 0 0"/>
     </joint>
 
     <joint name="base_footprint_to_gps" type="fixed">
@@ -194,7 +194,7 @@
     <joint name="base_footprint_to_imu" type="fixed">
         <parent link="base_footprint"/>
         <child link="imu_link"/>
-        <origin xyz="0.75 0.5 0.1" rpy="0 0 0"/>
+        <origin xyz="0.065 0.22 0.97" rpy="0 0 0"/>
     </joint>
 
 

From 97ec0e718b434fc8845eb89c3f3e135da8847156 Mon Sep 17 00:00:00 2001
From: Charlie Jenkins <thecharlesjenkins@gmail.com>
Date: Mon, 6 Sep 2021 17:41:59 -0400
Subject: [PATCH 2/4] Add location to rigatoni

---
 rr_description/urdf/rigatoni.urdf.xacro | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/rr_description/urdf/rigatoni.urdf.xacro b/rr_description/urdf/rigatoni.urdf.xacro
index 6ca2f2c47..29f2157a3 100644
--- a/rr_description/urdf/rigatoni.urdf.xacro
+++ b/rr_description/urdf/rigatoni.urdf.xacro
@@ -254,10 +254,10 @@
 
     <xacro:set_base_footprint_to_link link_name="gps_link" xyz="0.55 0.39 1.22" rpy="0 0 0"/>
 
-    <xacro:set_base_footprint_to_link link_name="camera" xyz="0.61 0.39 1.03" rpy="0 0.4 0"/>
+    <xacro:set_base_footprint_to_link link_name="camera" xyz="0.61 0.39 1.03" rpy="0 0 0"/>
 
-    <xacro:set_base_footprint_to_link link_name="imu_bottom_link" xyz="0 0 0.21" rpy="0 0 0"/>
-    <xacro:set_base_footprint_to_link link_name="imu_top_link" xyz="0.60 0.39 0.95" rpy="0 0 0"/>
+    <xacro:set_base_footprint_to_link link_name="imu_bottom_link" xyz=".22 .065 0.97" rpy="0 0 0"/>
+    <xacro:set_base_footprint_to_link link_name="imu_top_link" xyz="-0.53 -0.2 0.2375" rpy="0 0 0"/>
 
     <xacro:set_base_footprint_to_link link_name="april_2" xyz=".48  -0.55 0.26" rpy="0 0 ${pi/2}"/>
     <xacro:set_base_footprint_to_link link_name="april_3" xyz="-.19 -0.43 0.26" rpy="0 0 ${pi/4}"/>
@@ -270,7 +270,7 @@
 
     <!-- Velodyne Puck VLP-16 -->
     <xacro:VLP-16 parent="base_footprint" name="lidar" topic="/velodyne_points" hz="10" samples="500" gpu="true">
-        <origin xyz="1.175 0 0.175" rpy="0 0 0" />
+        <origin xyz=".825 -0.19 0.27875" rpy="0 0 0" />
     </xacro:VLP-16>
 
     <!-- FLIR Blackfly + wide-angle lens -->

From 08260b35ebc2f4ac20137dc385631e5778fe970b Mon Sep 17 00:00:00 2001
From: Charlie Jenkins <thecharlesjenkins@gmail.com>
Date: Mon, 6 Sep 2021 17:45:12 -0400
Subject: [PATCH 3/4] Add location for camera

---
 rr_description/urdf/rigatoni.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rr_description/urdf/rigatoni.urdf.xacro b/rr_description/urdf/rigatoni.urdf.xacro
index 29f2157a3..2c151772e 100644
--- a/rr_description/urdf/rigatoni.urdf.xacro
+++ b/rr_description/urdf/rigatoni.urdf.xacro
@@ -254,7 +254,7 @@
 
     <xacro:set_base_footprint_to_link link_name="gps_link" xyz="0.55 0.39 1.22" rpy="0 0 0"/>
 
-    <xacro:set_base_footprint_to_link link_name="camera" xyz="0.61 0.39 1.03" rpy="0 0 0"/>
+    <xacro:set_base_footprint_to_link link_name="camera" xyz="0.22 0.065 .59" rpy="0 0 0"/>
 
     <xacro:set_base_footprint_to_link link_name="imu_bottom_link" xyz=".22 .065 0.97" rpy="0 0 0"/>
     <xacro:set_base_footprint_to_link link_name="imu_top_link" xyz="-0.53 -0.2 0.2375" rpy="0 0 0"/>

From f72dc89c28f49896c22b22c7bbd5837f37774e58 Mon Sep 17 00:00:00 2001
From: Charlie Jenkins <thecharlesjenkins@gmail.com>
Date: Mon, 6 Sep 2021 17:46:48 -0400
Subject: [PATCH 4/4] reset changes to evgp

---
 rr_description/urdf/evgp.urdf.xacro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/rr_description/urdf/evgp.urdf.xacro b/rr_description/urdf/evgp.urdf.xacro
index b9f9e2442..3272234a7 100644
--- a/rr_description/urdf/evgp.urdf.xacro
+++ b/rr_description/urdf/evgp.urdf.xacro
@@ -163,7 +163,7 @@
     <joint name="base_footprint_to_lidar" type="fixed">
         <parent link="base_footprint"/>
         <child link="lidar"/>
-        <origin xyz=".825 -.19 0.27875" rpy="0 0 0"/>
+        <origin xyz="1.2 0 0.18" rpy="0 0 0"/>
     </joint>
 
     <joint name="base_footprint_to_gps" type="fixed">
@@ -194,7 +194,7 @@
     <joint name="base_footprint_to_imu" type="fixed">
         <parent link="base_footprint"/>
         <child link="imu_link"/>
-        <origin xyz="0.065 0.22 0.97" rpy="0 0 0"/>
+        <origin xyz="0.75 0.5 0.1" rpy="0 0 0"/>
     </joint>