<commit_before><?xml version="1.0" ?>
<!--
     Futurakart model dimensions
 -->
<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">

  <!-- Wheelbase = distance between wheels in meters -->
  <xacro:property name="wheelbase" value="0.49" />

  <!-- Track = distance between front and rear axles -->
  <xacro:property name="track" value="0.99" />

  <!-- Wheel_vertical_offset = vertical distance between base_link and wheel center -->
  <xacro:property name="wheel_vertical_offset" value="0.09" />

  <!-- Vertical_offset = vertical distance between base_link and the floor -->
  <xacro:property name="vertical_offset" value="0.23" />

  <!--  -->
  <xacro:property name="footprint_vertical_offset" value="-0.0655" />

  <!-- Wheel dimensions -->
  <xacro:property name="wheel_radius" value="0.125" />
  <xacro:property name="wheel_width" value="0.085" />

  <!-- Base plane dimenstions -->
  <xacro:property name="base_length" value="1.5" />
  <xacro:property name="base_width" value="1.0" />
  <xacro:property name="base_height" value="0.02" />

  <xacro:property name="dummy_inertia" value="1e-09"/>
  <xacro:property name="mount_spacing" value="0.120" />



</robot><commit_msg>* modify urdf file of dimensions of the kart base<commit_after><?xml version="1.0" ?>
 <!---------------------------------------------------->
 <!--          Futurakart model dimensions           -->
 <!---------------------------------------------------->
 <!-- base_link is the middle of the back wheel axle -->
 <!-- x axis : from back to front                    -->
 <!-- y axis : from left to right                    -->
 <!-- z axis : from floor to the sky                 -->
 <!---------------------------------------------------->

<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">

  <!-- Wheelbase_front = distance between wheels in meters -->
  <xacro:property name="wheelbase_front" value="0.58" />

  <!-- Wheelbase_back = distance between wheels in meters -->
  <xacro:property name="wheelbase_back" value="0.51" />

  <!-- Wheelbase_front is equal to rot_axle_dist + 2 * wheel_arm
  <!-- wheel_arm = distance between wheel and rotation axle -->
  <xacro:property name="wheel_arm" value="0.12" />
  <!-- rot_axle_dist = distance between the too wheel's rotation axle -->
  <xacro:property name="rot_axle_dist" value="0.34"

  <!-- Track = distance between front and rear axles (when going straight)-->
  <xacro:property name="track" value="1" />

  <!-- Wheel_vertical_offset = vertical distance between base_link and wheel center -->
  <xacro:property name="wheel_vertical_offset" value="0" />

  <!-- Vertical_offset = vertical distance between base_link and the floor -->
  <xacro:property name="vertical_offset" value="0.125" />

  <!-- footprint_vertical_offset = z axis distance between floor footprint and base_link -->
  <xacro:property name="footprint_vertical_offset" value="0.125" />

  <!-- Wheel dimensions -->
  <xacro:property name="wheel_radius" value="0.125" />
  <xacro:property name="wheel_width" value="0.085" />

  <!-- Base plank dimensions -->
  <xacro:property name="base_length" value="1,475" />
  <xacro:property name="base_width" value="0.84" />
  <xacro:property name="base_height" value="0.01" />

  <xacro:property name="dummy_inertia" value="1e-09"/>
  <xacro:property name="mount_spacing" value="0.120" />



</robot>
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