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>