From f21901a304ce42c7adf9ffba53e70d962c1a5deb Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Fri, 29 Nov 2024 14:48:31 -0500
Subject: [PATCH] Add mount links for the front & rear 2D lidars (front has a
 permanent mesh, since it's always assumed to be present)

---
 .../attachments/observer_backpack.urdf.xacro  | 20 ++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/clearpath_platform_description/urdf/a200/attachments/observer_backpack.urdf.xacro b/clearpath_platform_description/urdf/a200/attachments/observer_backpack.urdf.xacro
index 554f232..e4caac8 100644
--- a/clearpath_platform_description/urdf/a200/attachments/observer_backpack.urdf.xacro
+++ b/clearpath_platform_description/urdf/a200/attachments/observer_backpack.urdf.xacro
@@ -86,13 +86,27 @@
       <origin xyz="0 0 0.355" rpy="0 0 0" />
     </joint>
 
-    <link name="${name}_lidar_mount" />
-    <joint name="${name}_lidar_mount_joint" type="fixed">
+    <link name="${name}_center_lidar_mount" />
+    <joint name="${name}_center_lidar_mount_joint" type="fixed">
       <parent link="${name}_shell_link" />
-      <child link="${name}_lidar_mount" />
+      <child link="${name}_center_lidar_mount" />
       <origin xyz="0 0 0.257" rpy="0 0 0" />
     </joint>
 
+    <link name="${name}_front_lidar_mount" />
+    <joint name="${name}_front_lidar_mount_joint" type="fixed">
+      <parent link="${name}_shell_link" />
+      <child link="${name}_front_lidar_mount" />
+      <origin xyz="0.45 0 0.06" rpy="3.14159 0 0" />
+    </joint>
+
+    <link name="${name}_rear_lidar_mount" />
+    <joint name="${name}_rear_lidar_mount_joint" type="fixed">
+      <parent link="${name}_shell_link" />
+      <child link="${name}_rear_lidar_mount" />
+      <origin xyz="-0.45 0 0.06" rpy="3.14159 0 3.14159" />
+    </joint>
+
     <link name="${name}_left_antenna_mount" />
     <joint name="${name}_left_antenna_mount_joint" type="fixed">
       <parent link="${name}_shell_link" />