Added a namespace to the sensor model to be used in both the darwin and the bioloid robots.

bioloid_description/urdf/sensors/cny70_ir.gazebo

@@ -2,7 +2,7 @@
 
 <root xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:macro name="cny70_ir_gazebo" params="name update_rate fov min_range max_range">
+  <xacro:macro name="cny70_ir_gazebo" params="name namespace update_rate fov min_range max_range">
     <gazebo reference="${name}_ir_link">
       <material>Gazebo/Black</material>
       <gravity>true</gravity>
@@ -42,8 +42,8 @@
           </range>
         </ray>
         <plugin name="${name}_range_sensor" filename="libgazebo_ros_range.so">
-          <frameName>/bioloid/${name}_ir_link</frameName>
-          <topicName>/bioloid/sensors/range</topicName>
+          <frameName>/${namespace}/${name}_ir_link</frameName>
+          <topicName>/${namespace}/sensors/range</topicName>
           <radiation>infrared</radiation>
           <fov>${fov}</fov>
           <gaussianNoise>0.0005</gaussianNoise>

bioloid_description/urdf/sensors/cny70_ir.xacro

@@ -4,7 +4,7 @@
 
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.gazebo" />
 
-  <xacro:macro name="cny70_ir" params="name parent *origin update_rate fov min_range max_range">
+  <xacro:macro name="cny70_ir" params="name namespace parent *origin update_rate fov min_range max_range">
   <!-- IR distance sensors -->
     <link name="${name}_ir_link">
       <collision>
@@ -32,7 +32,7 @@
       <child link="${name}_ir_link"/>
     </joint>
 
-    <xacro:cny70_ir_gazebo name="${name}" update_rate="${update_rate}" fov="${fov}" min_range="${min_range}" max_range="${max_range}"/>
+    <xacro:cny70_ir_gazebo name="${name}" namespace="${namespace}" update_rate="${update_rate}" fov="${fov}" min_range="${min_range}" max_range="${max_range}"/>
   </xacro:macro>
 </root>
 

bioloid_description/urdf/sensors/feet_ir.xacro

@@ -34,15 +34,15 @@
     </joint>
 
     <!-- sensor links --> 
-    <xacro:cny70_ir name="left_front_fwd" parent="left_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+    <xacro:cny70_ir name="left_front_fwd" namespace="bioloid" parent="left_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
       <origin xyz="0.0085 -0.0055 0.038" rpy="-1.5707 -1.5707 0" />
     </xacro:cny70_ir>
 
-    <xacro:cny70_ir name="left_front_dwn" parent="left_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+    <xacro:cny70_ir name="left_front_dwn" namespace="bioloid" parent="left_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
       <origin xyz="0.0225 -0.012 0.0345" rpy="0 0 -1.5707" />
     </xacro:cny70_ir>
 
-    <xacro:cny70_ir name="left_lateral_dwn" parent="left_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+    <xacro:cny70_ir name="left_lateral_dwn" namespace="bioloid" parent="left_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
       <origin xyz="0.0575 -0.012 0.0065" rpy="0 0 -1.5707" />
     </xacro:cny70_ir>
 
@@ -74,15 +74,15 @@
     </joint>
 
     <!-- sensor links --> 
-    <xacro:cny70_ir name="right_front_fwd" parent="right_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+    <xacro:cny70_ir name="right_front_fwd" namespace="bioloid" parent="right_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
       <origin xyz="-0.0085 -0.0055 0.038" rpy="-1.5707 -1.5707 0" />
     </xacro:cny70_ir>
 
-    <xacro:cny70_ir name="right_front_dwn" parent="right_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+    <xacro:cny70_ir name="right_front_dwn" namespace="bioloid" parent="right_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
       <origin xyz="-0.0225 -0.012 0.0345" rpy="0 0 -1.5707" />
     </xacro:cny70_ir>
 
-    <xacro:cny70_ir name="right_lateral_dwn" parent="right_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
+    <xacro:cny70_ir name="right_lateral_dwn" namespace="bioloid" parent="right_board_link" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
       <origin xyz="-0.0575 -0.012 0.0065" rpy="0 0 -1.5707" />
     </xacro:cny70_ir>