From a3be4c1f7f42c234912052d637819faa7fc55151 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Mon, 25 Feb 2019 16:11:55 +0100
Subject: [PATCH] sensors.xacro: independent front/rear laser config file,
because is where topic is defined
---
urdf/include/sensors.xacro | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/urdf/include/sensors.xacro b/urdf/include/sensors.xacro
index b48b552..709ac78 100644
--- a/urdf/include/sensors.xacro
+++ b/urdf/include/sensors.xacro
@@ -7,13 +7,14 @@
<xacro:macro name="sensors" params="name parent">
- <xacro:property name="laser_config" value="$(find iri_dabo_gazebo)/config/hokuyo_utm30lx.yaml"/>
+ <xacro:property name="front_laser_config" value="$(find iri_dabo_gazebo)/config/front_hokuyo_utm30lx.yaml"/>
+ <xacro:property name="rear_laser_config" value="$(find iri_dabo_gazebo)/config/rear_hokuyo_utm30lx.yaml"/>
- <xacro:hokuyo_laser2d name="front" prefix="${name}" parent="${parent}" mesh_resolution="low_res" model="utm30lx" config_file="${laser_config}">
+ <xacro:hokuyo_laser2d name="front" prefix="${name}" parent="${parent}" mesh_resolution="low_res" model="utm30lx" config_file="${front_laser_config}">
<origin xyz="0.28 0.0 0.15" rpy="0 0 0" />
</xacro:hokuyo_laser2d>
- <xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="${parent}" mesh_resolution="low_res" model="utm30lx" config_file="${laser_config}">
+ <xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="${parent}" mesh_resolution="low_res" model="utm30lx" config_file="${rear_laser_config}">
<origin xyz="-0.28 0.0 0.15" rpy="0 0 3.14159" />
</xacro:hokuyo_laser2d>
--
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