From 9d692167c76a2350e895dd0f70ebd4c7656b628e Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 10 Jul 2018 21:25:59 +0200
Subject: [PATCH] Necessary changes for the ROS kinetic version.

---
 bioloid_controller/src/sim/stm32_dyn_master.c       | 4 ++--
 bioloid_description/launch/bioloid_base.launch      | 2 +-
 bioloid_description/launch/bioloid_test.launch      | 2 +-
 bioloid_description/launch/obstacles_env.launch     | 2 +-
 bioloid_description/launch/stairs_env.launch        | 2 +-
 bioloid_description/launch/vision_env.launch        | 2 +-
 bioloid_description/urdf/ceabot/obstacle.xacro      | 2 +-
 bioloid_description/urdf/ceabot/obstacle_base.xacro | 2 +-
 bioloid_description/urdf/ceabot/obstacle_vis.xacro  | 2 +-
 bioloid_description/urdf/ceabot/stairs.xacro        | 2 +-
 bioloid_description/urdf/pan_tilt.xacro             | 2 +-
 bioloid_description/urdf/qrcodes/qrcode.xacro       | 2 +-
 bioloid_description/urdf/sensors/cny70_ir.gazebo    | 2 +-
 bioloid_description/urdf/sensors/cny70_ir.xacro     | 2 +-
 bioloid_description/urdf/sensors/feet_ir.xacro      | 2 +-
 bioloid_description/urdf/sensors/ids_xs.gazebo      | 2 +-
 bioloid_description/urdf/sensors/ids_xs.xacro       | 2 +-
 bioloid_description/urdf/sensors/sharp_ir.gazebo    | 2 +-
 bioloid_description/urdf/sensors/sharp_ir.xacro     | 2 +-
 bioloid_description/urdf/tina.xacro                 | 2 +-
 20 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/bioloid_controller/src/sim/stm32_dyn_master.c b/bioloid_controller/src/sim/stm32_dyn_master.c
index eb11305..e7adce4 100644
--- a/bioloid_controller/src/sim/stm32_dyn_master.c
+++ b/bioloid_controller/src/sim/stm32_dyn_master.c
@@ -15,12 +15,12 @@ void dyn_master_set_rx_timeout(TDynamixelMaster *master,unsigned short int timeo
   master->rx_timeout_ms=timeout_ms;
 }
 
-inline void dyn_master_set_return_level(TDynamixelMaster *master,return_level_t level)
+inline void dyn_master_set_return_level(TDynamixelMaster *master,TReturnLevel level)
 {
   master->return_level=level;
 }
 
-inline return_level_t dyn_master_get_return_level(TDynamixelMaster *master)
+inline TReturnLevel dyn_master_get_return_level(TDynamixelMaster *master)
 {
   return master->return_level;
 }
diff --git a/bioloid_description/launch/bioloid_base.launch b/bioloid_description/launch/bioloid_base.launch
index 2473f6d..0f4b08e 100644
--- a/bioloid_description/launch/bioloid_base.launch
+++ b/bioloid_description/launch/bioloid_base.launch
@@ -3,7 +3,7 @@
   <arg name="use_pan_tilt" default="false" />
 
   <!-- Convert an xacro and put on parameter server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)"/>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)"/>
 
   <node pkg="robot_state_publisher" type="state_publisher" name="bioloid_tf_broadcaster">
     <param name="tf_prefix" type="string" value="/bioloid"/>
diff --git a/bioloid_description/launch/bioloid_test.launch b/bioloid_description/launch/bioloid_test.launch
index 66a2556..067cfb3 100644
--- a/bioloid_description/launch/bioloid_test.launch
+++ b/bioloid_description/launch/bioloid_test.launch
@@ -5,7 +5,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="robot_description"
-         command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)" />
+         command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)" />
 
   <node pkg="robot_state_publisher" type="state_publisher" name="bioloid_tf_broadcaster">
     <param name="tf_prefix" type="string" value="/bioloid"/>
diff --git a/bioloid_description/launch/obstacles_env.launch b/bioloid_description/launch/obstacles_env.launch
index bad6c25..0b750f5 100644
--- a/bioloid_description/launch/obstacles_env.launch
+++ b/bioloid_description/launch/obstacles_env.launch
@@ -3,7 +3,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="obstacles_environment"
-         command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
+         command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
 
   <node name="spawn_obstacles" pkg="gazebo_ros" type="spawn_model" args="-param obstacles_environment -urdf -model obstacles -x 1.0 -y 0.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/>
 
diff --git a/bioloid_description/launch/stairs_env.launch b/bioloid_description/launch/stairs_env.launch
index d89ceb0..6d05f0b 100644
--- a/bioloid_description/launch/stairs_env.launch
+++ b/bioloid_description/launch/stairs_env.launch
@@ -3,7 +3,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="stairs_environment"
-         command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
+         command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
 
   <node name="spawn_stairs" pkg="gazebo_ros" type="spawn_model" args="-param stairs_environment -urdf -model obstacles -x 1.0 -y 0.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/>
 
diff --git a/bioloid_description/launch/vision_env.launch b/bioloid_description/launch/vision_env.launch
index 240ff82..9b900bc 100644
--- a/bioloid_description/launch/vision_env.launch
+++ b/bioloid_description/launch/vision_env.launch
@@ -3,7 +3,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="vision_environment"
-         command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
+         command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
 
   <node name="spawn_vision" pkg="gazebo_ros" type="spawn_model" args="-param vision_environment -urdf -model obstacles -x 1.0 -y 1.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/>
 
diff --git a/bioloid_description/urdf/ceabot/obstacle.xacro b/bioloid_description/urdf/ceabot/obstacle.xacro
index b8c6e6b..1f9c193 100644
--- a/bioloid_description/urdf/ceabot/obstacle.xacro
+++ b/bioloid_description/urdf/ceabot/obstacle.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
 
diff --git a/bioloid_description/urdf/ceabot/obstacle_base.xacro b/bioloid_description/urdf/ceabot/obstacle_base.xacro
index c5b0048..7f65bb6 100644
--- a/bioloid_description/urdf/ceabot/obstacle_base.xacro
+++ b/bioloid_description/urdf/ceabot/obstacle_base.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="obstacle_base" params="name">
     <link name="${name}_link">
diff --git a/bioloid_description/urdf/ceabot/obstacle_vis.xacro b/bioloid_description/urdf/ceabot/obstacle_vis.xacro
index e1ad12d..dd00909 100644
--- a/bioloid_description/urdf/ceabot/obstacle_vis.xacro
+++ b/bioloid_description/urdf/ceabot/obstacle_vis.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
 
diff --git a/bioloid_description/urdf/ceabot/stairs.xacro b/bioloid_description/urdf/ceabot/stairs.xacro
index ccb322d..65ecbb7 100644
--- a/bioloid_description/urdf/ceabot/stairs.xacro
+++ b/bioloid_description/urdf/ceabot/stairs.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="stairs" params="name parent orientation">
   <!-- obstacle -->
diff --git a/bioloid_description/urdf/pan_tilt.xacro b/bioloid_description/urdf/pan_tilt.xacro
index 57f9f0b..2a2f53b 100755
--- a/bioloid_description/urdf/pan_tilt.xacro
+++ b/bioloid_description/urdf/pan_tilt.xacro
@@ -1,4 +1,4 @@
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="pan_tilt" params="parent *origin">
 
diff --git a/bioloid_description/urdf/qrcodes/qrcode.xacro b/bioloid_description/urdf/qrcodes/qrcode.xacro
index 4541ca4..8a1133a 100644
--- a/bioloid_description/urdf/qrcodes/qrcode.xacro
+++ b/bioloid_description/urdf/qrcodes/qrcode.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="qrcode" params="name parent code size *origin">
     <!-- obstacle -->
diff --git a/bioloid_description/urdf/sensors/cny70_ir.gazebo b/bioloid_description/urdf/sensors/cny70_ir.gazebo
index 907f5a1..c807741 100644
--- a/bioloid_description/urdf/sensors/cny70_ir.gazebo
+++ b/bioloid_description/urdf/sensors/cny70_ir.gazebo
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="cny70_ir_gazebo" params="name namespace update_rate fov min_range max_range">
     <gazebo reference="${name}_ir_link">
diff --git a/bioloid_description/urdf/sensors/cny70_ir.xacro b/bioloid_description/urdf/sensors/cny70_ir.xacro
index bac20e1..4495c1a 100644
--- a/bioloid_description/urdf/sensors/cny70_ir.xacro
+++ b/bioloid_description/urdf/sensors/cny70_ir.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.gazebo" />
 
diff --git a/bioloid_description/urdf/sensors/feet_ir.xacro b/bioloid_description/urdf/sensors/feet_ir.xacro
index ecb4495..df95c96 100644
--- a/bioloid_description/urdf/sensors/feet_ir.xacro
+++ b/bioloid_description/urdf/sensors/feet_ir.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.xacro" />
 
diff --git a/bioloid_description/urdf/sensors/ids_xs.gazebo b/bioloid_description/urdf/sensors/ids_xs.gazebo
index 807ab8f..12b2830 100644
--- a/bioloid_description/urdf/sensors/ids_xs.gazebo
+++ b/bioloid_description/urdf/sensors/ids_xs.gazebo
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="ids_xs_gazebo" params="name">
     <gazebo reference="${name}_link">
diff --git a/bioloid_description/urdf/sensors/ids_xs.xacro b/bioloid_description/urdf/sensors/ids_xs.xacro
index 5bc8c67..7856dc3 100644
--- a/bioloid_description/urdf/sensors/ids_xs.xacro
+++ b/bioloid_description/urdf/sensors/ids_xs.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/ids_xs.gazebo" />
 
diff --git a/bioloid_description/urdf/sensors/sharp_ir.gazebo b/bioloid_description/urdf/sensors/sharp_ir.gazebo
index 117d9f4..237d7cc 100644
--- a/bioloid_description/urdf/sensors/sharp_ir.gazebo
+++ b/bioloid_description/urdf/sensors/sharp_ir.gazebo
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="sharp_ir_gazebo" params="name update_rate fov min_range max_range">
     <gazebo reference="${name}_link">
diff --git a/bioloid_description/urdf/sensors/sharp_ir.xacro b/bioloid_description/urdf/sensors/sharp_ir.xacro
index 6115174..2f0e2a4 100644
--- a/bioloid_description/urdf/sensors/sharp_ir.xacro
+++ b/bioloid_description/urdf/sensors/sharp_ir.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/sharp_ir.gazebo" />
 
diff --git a/bioloid_description/urdf/tina.xacro b/bioloid_description/urdf/tina.xacro
index 3ecd293..6215f1e 100755
--- a/bioloid_description/urdf/tina.xacro
+++ b/bioloid_description/urdf/tina.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<robot name="bioloid" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro">
  
   <xacro:include filename="$(find bioloid_description)/urdf/bioloid.xacro" />
   <xacro:include filename="$(find bioloid_description)/urdf/tina.gazebo" />
-- 
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