fix urdf temporarily

Author: wflyerthariani

src/rover_description/launch/slam_launch.py

@@ -15,11 +15,6 @@ def generate_launch_description():
                 "base_frame": "base_link",
                 "scan_topic": "/scan",
                 "mode": "mapping",
-                "transform_tolerance": 1,
-                "transform_cache_size": 10000,
-                "transform_publish_period": 0.05,
-                "min_laser_range": 0.0,
-                "max_laser_range": 25.0
             }]
         )
     ])

src/rover_description/urdf/Chassis_jan25.SLDASM.urdf

@@ -594,4 +594,12 @@
     <axis
       xyz="0 0 0" />
   </joint>
+  <link name="lidar">
+  </link>
+
+  <joint name="lidar_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="lidar" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
 </robot>