Update launch files. Moved xacro to include

config/hokuyo_utm30lx.yaml

-pose_x: 0
-pose_y: 0
-pose_z: 0
-pose_roll: 0
-pose_pitch: 0
-pose_yaw: 0
-visualize: false
-update_rate: 40
-samples: 1080
-resolution: 1
-min_angle: -2.36
-max_angle: 2.36
-range_min: 0.10
-range_max: 30.0
-range_resolution: 0.01
-noise_type: 'gaussian'
-noise_mean: 0.0
-noise_stddev: 0.01
-topic_name: 'scan'
-frame_name: 'scan_frame'
\ No newline at end of file

launch/description.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="ns"    default="helena"/>
+  <arg name="model" default="helena"/>
+  <arg name="static_wheels" default="false" />
+
+  <group ns="$(arg ns)">
+    
+    <param name="robot_description"
+         command="$(find xacro)/xacro --inorder '$(find iri_helena_description)/urdf/$(arg model).xacro' name:=$(arg ns)" />
+
+    <node pkg="robot_state_publisher" type="state_publisher" name="state_publisher">
+      <param name="tf_prefix" type="string" value="/$(arg ns)"/>
+      <param name="publish_frequency" type="double" value="20.0"/>
+    </node>
+
+    <!--
+    <node pkg="joint_state_publisher"
+          type="joint_state_publisher"
+          name="joint_state_publisher">
+      <param name="use_gui"           value="true"/>
+      <remap from="$(arg ns)/joint_states" to="$(arg ns)/joint_states/"/>
+      <remap from="$(arg ns)/robot_description" to="$(arg ns)/robot_description/"/>
+    </node>
+    -->
+
+  </group>
+  
+  <group if="$(arg static_wheels)">
+    <include file="$(find iri_pioneer3_description)/launch/wheel_static_transform.launch">
+      <arg name="ns" value="$(arg ns)"/>
+    </include>
+  </group>
+
+</launch>
\ No newline at end of file

package.xml

@@ -49,6 +49,8 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

urdf/helena.xacro

@@ -4,8 +4,8 @@
 
   <xacro:arg name="name" default="helena"/>
 
-  <xacro:include filename="$(find iri_pioneer3_description)/urdf/pioneer3.xacro" />
-  <xacro:include filename="$(find iri_helena_description)/urdf/helena_sensors.xacro" />
+  <xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.xacro" />
+  <xacro:include filename="$(find iri_helena_description)/urdf/include/helena_sensors.xacro" />
 
   <xacro:pioneer3 name="$(arg name)" resolution="low_res" sim_config="$(find iri_helena_gazebo)/config/helena_sim_config.yaml">
   </xacro:pioneer3>

urdf/helena_sensors.xacro → urdf/include/helena_sensors.xacro

@@ -41,11 +41,11 @@
       <xacro:insert_block name="origin" />
     </joint>
 
-    <xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_description)/config/hokuyo_utm30lx.yaml">
+    <xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_gazebo)/config/rear_hokuyo_utm30lx.yaml">
       <origin xyz="0.13121 -0.18921 0.063" rpy="0 0 -0.785" />
     </xacro:hokuyo_laser2d>
 
-    <xacro:hokuyo_laser2d name="front" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_description)/config/hokuyo_utm30lx.yaml">
+    <xacro:hokuyo_laser2d name="front" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_gazebo)/config/front_hokuyo_utm30lx.yaml">
       <origin xyz="-0.13121 +0.18921 0.063" rpy="0 0 2.36" />
     </xacro:hokuyo_laser2d>