From 27f23999f91183f9f6872dd7368b43beb593353d Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com>
Date: Thu, 2 Nov 2023 14:03:08 -0400
Subject: [PATCH] Shift sensor origin down

Jeff discovered that on `uomda01` that lidar data was shifted upwards. After some investigation we determined that this link having a vertical offset appears to have been the culprit.

This commit has the origin set as-on uomda01.
---
 ouster_description/urdf/OS1-64.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ouster_description/urdf/OS1-64.urdf.xacro b/ouster_description/urdf/OS1-64.urdf.xacro
index a1fcc825..20359320 100755
--- a/ouster_description/urdf/OS1-64.urdf.xacro
+++ b/ouster_description/urdf/OS1-64.urdf.xacro
@@ -77,7 +77,7 @@
     <joint name="${name}_lidar_link_joint" type="fixed">
       <parent link="${name}" />
       <child link="${lidar_link}" />
-      <origin xyz="0.0 0.0 0.03618" rpy="0 0 0" />
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 3.14159" />
     </joint>
 
     <!-- Gazebo requires the ouster_gazebo_plugins package -->