Sync module source with week 5 baseline

2026-08-06 18:04:47 +09:00
parent 671142119a
commit 68e0087bcb
2 changed files with 15 additions and 10 deletions
@@ -229,13 +229,13 @@ def create_mkmini_world(gazebo_dir):
            continue
        if cylinder.findtext('radius') != '0.15' or cylinder.findtext('length') != '0.5':
            continue
-        cylinder.find('length').text = '0.8'
+        cylinder.find('length').text = '1.2'
        pose = element.find('pose')
        if pose is None:
            continue
        values = pose.text.split()
        if len(values) == 6:
-            values[2] = '0.4'
+            values[2] = '0.6'
            pose.text = ' '.join(values)

    model_tree.write(
@@ -381,7 +381,7 @@ def launch_gazebo(context):
                executable='static_transform_publisher',
                name='mkmini_lidar_tf',
                arguments=[
-                    '--x', '0', '--y', '0', '--z', '0.6',
+                    '--x', '0', '--y', '0', '--z', '0.9',
                    '--roll', '0', '--pitch', '0', '--yaw', '0',
                    '--frame-id', 'base_link', '--child-frame-id', 'os_lidar',
                ],