diff --git a/launch/description.launch b/launch/description.launch
index 519a484f9fc29e43359a71fde81653b1d66fc09e..81854bcc76c75cc04f0a91ebbe10b5e145584fd3 100644
--- a/launch/description.launch
+++ b/launch/description.launch
@@ -33,4 +33,4 @@
</include>
</group>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/urdf/helena.xacro b/urdf/helena.xacro
index e85c0d9fe64ce71adbd411d0b530bdd81450307d..933026ed825f6490824c59be41fa544df3df059d 100644
--- a/urdf/helena.xacro
+++ b/urdf/helena.xacro
@@ -5,12 +5,11 @@
<xacro:arg name="name" default="helena"/>
<xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.xacro" />
- <xacro:include filename="$(find iri_helena_description)/urdf/include/helena_sensors.xacro" />
+ <xacro:include filename="$(find iri_helena_description)/urdf/include/sensors.xacro" />
<xacro:pioneer3 name="$(arg name)" sim_config="$(find iri_helena_gazebo)/config/helena_sim_config.yaml">
</xacro:pioneer3>
- <xacro:helena_sensors name="$(arg name)" parent="base_link">
- <origin xyz="0.0 0.0 0.27" rpy="0 0 3.14159" />
- </xacro:helena_sensors>
+ <xacro:sensors name="$(arg name)" parent="top_plate">
+ </xacro:sensors>
</robot>
diff --git a/urdf/include/helena_sensors.xacro b/urdf/include/helena_sensors.xacro
deleted file mode 100644
index 9c5e79ec7ee783cea9064974f2de33560968a5b7..0000000000000000000000000000000000000000
--- a/urdf/include/helena_sensors.xacro
+++ /dev/null
@@ -1,54 +0,0 @@
-<?xml version="1.0"?>
-
-<root xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find iri_hokuyo_laser2d_description)/urdf/hokuyo_laser2d.xacro" />
-
- <xacro:macro name="helena_sensors" params="name parent *origin">
-
- <link name="sensors_base">
- <inertial>
- <mass value="4.00000000" />
- <origin xyz="-0.02349208 0.00000000 0.20998619" rpy="0 0 0"/>
- <inertia ixx="0.15364469" ixy="0.00000000" ixz="0.00406514"
- iyy="0.17441562" iyz="0.00000000"
- izz="0.11019687" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://iri_helena_description/meshes/low_res_helena_payload.stl" />
- </geometry>
- <material name="DarkGrey">
- <color rgba="0.2 0.2 0.2 1.0"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://iri_helena_description/meshes/low_res_helena_payload.stl" />
- </geometry>
- </collision>
- </link>
-
- <gazebo reference="sensors_base">
- <material>Gazebo/Grey</material>
- </gazebo>
-
-
- <joint name="joint_${parent}_to_sensors_base" type="fixed" >
- <parent link="${parent}"/>
- <child link="sensors_base"/>
- <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_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_gazebo)/config/front_hokuyo_utm30lx.yaml">
- <origin xyz="-0.13121 +0.18921 0.063" rpy="0 0 2.36" />
- </xacro:hokuyo_laser2d>
-
- </xacro:macro>
-
-</root>
diff --git a/urdf/include/sensors.xacro b/urdf/include/sensors.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..a2e85682c71b62716552a7cc7a092fed0456f9c5
--- /dev/null
+++ b/urdf/include/sensors.xacro
@@ -0,0 +1,72 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find iri_robosense_lidar_description)/urdf/rslidar16.xacro" />
+<!-- <xacro:include filename="$(find iri_realsense_depth_description)/urdf/realsense.xacro" />-->
+ <xacro:include filename="$(find iri_bno055_imu_description)/urdf/bno055_imu.xacro" />
+
+ <xacro:macro name="sensors" params="name parent">
+
+ <link name="${name}_box">
+ <inertial>
+ <mass value="4.00000000" />
+ <origin xyz="-0.02349208 0.00000000 0.20998619" rpy="0 0 0"/>
+ <inertia ixx="0.15364469" ixy="0.00000000" ixz="0.00406514"
+ iyy="0.17441562" iyz="0.00000000"
+ izz="0.11019687" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0.1" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.3 0.3 0.2"/>
+ </geometry>
+ <material name="DarkGrey">
+ <color rgba="0.2 0.2 0.2 1.0"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0.1" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.3 0.3 0.2"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <gazebo reference="${name}_box">
+ <material>Gazebo/Black</material>
+ </gazebo>
+
+ <joint name="joint_${parent}_to_${name}_box" type="fixed" >
+ <parent link="${parent}"/>
+ <child link="${name}_box"/>
+ <origin xyz="0 0 0.3" rpy="0 0 0"/>
+ </joint>
+
+ <xacro:rslidar16 name="robosense" parent="${parent}" resolution="high_res" sim_config="$(find iri_helena_gazebo)/config/helena_robosense_config.yaml">
+ <origin xyz="0.0 0.0 0.034" rpy="0 0.0 3.14159" />
+ </xacro:rslidar16>
+
+<!--
+ <link name="${name}_realsense_support">
+ </link>
+
+ <joint name="joint_${parent}_to_${name}_realsense_support" type="fixed" >
+ <parent link="${parent}"/>
+ <child link="${name}_realsense_support"/>
+ <origin xyz="0.26374 0 -0.0485" rpy="0 0 0"/>
+ </joint>
+
+ <xacro:realsense_depth parent="${name}_realsense_support" model="d435" sim_config="$(find iri_helena_gazebo)/config/helena_realsense_config.yaml">
+ <origin xyz="0.0 0.0 0.0265" rpy="0 0.26 0" />
+ </xacro:realsense_depth>
+-->
+
+ <xacro:bno055_imu name="imu" parent="base_footprint" resolution="low_res" sim_config="$(find iri_helena_gazebo)/config/helena_bno055_config.yaml">
+ <origin xyz="0.11928 -0.08805 0.23061" rpy="0 -1.5707 0" />
+ </xacro:bno055_imu>
+
+ </xacro:macro>
+
+
+</root>