From 38aa216441d4a1cc106c22079bd1349fb57ef29c Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Tue, 30 Jun 2020 12:35:24 +0200
Subject: [PATCH] Update xacros with use_nominal_extrinsics as parameter,
according to realsense2_description#f7cd5fced531551ac0e1e449e800fa11acac3944
---
urdf/realsense.xacro | 6 +++---
urdf/realsense_d435.xacro | 2 +-
urdf/realsense_r410.xacro | 2 +-
urdf/realsense_r430.xacro | 2 +-
4 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/urdf/realsense.xacro b/urdf/realsense.xacro
index 962696f..1265739 100644
--- a/urdf/realsense.xacro
+++ b/urdf/realsense.xacro
@@ -12,7 +12,7 @@
<xacro:if value="${first == 'true'}">
<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
</xacro:if>
- <sensor_d435 parent="${parent}" name="${name}">
+ <sensor_d435 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
<xacro:insert_block name="origin"/>
</sensor_d435>
</xacro:if>
@@ -21,7 +21,7 @@
<xacro:if value="${first == 'true'}">
<xacro:include filename="$(find realsense2_description)/urdf/_r410.urdf.xacro"/>
</xacro:if>
- <sensor_r410 parent="${parent}" name="${name}">
+ <sensor_r410 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
<xacro:insert_block name="origin"/>
</sensor_r410>
</xacro:if>
@@ -30,7 +30,7 @@
<xacro:if value="${first == 'true'}">
<xacro:include filename="$(find realsense2_description)/urdf/_r430.urdf.xacro"/>
</xacro:if>
- <sensor_r430 parent="${parent}" name="${name}">
+ <sensor_r430 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
<xacro:insert_block name="origin"/>
</sensor_r430>
</xacro:if>
diff --git a/urdf/realsense_d435.xacro b/urdf/realsense_d435.xacro
index ba3d9ca..d83810f 100644
--- a/urdf/realsense_d435.xacro
+++ b/urdf/realsense_d435.xacro
@@ -8,7 +8,7 @@
<xacro:macro name="realsense_d435_depth" params="parent name:=camera *origin sim_config">
<xacro:arg name="use_nominal_extrinsics" default="True" />
- <sensor_d435 parent="${parent}" name="${name}">
+ <sensor_d435 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
<xacro:insert_block name="origin"/>
</sensor_d435>
diff --git a/urdf/realsense_r410.xacro b/urdf/realsense_r410.xacro
index 52cd76d..7d70aa2 100644
--- a/urdf/realsense_r410.xacro
+++ b/urdf/realsense_r410.xacro
@@ -8,7 +8,7 @@
<xacro:macro name="realsense_r410_depth" params="parent model *origin sim_config">
<xacro:arg name="use_nominal_extrinsics" default="True" />
- <sensor_r410 parent="${parent}" name="${name}">
+ <sensor_r410 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
<xacro:insert_block name="origin"/>
</sensor_r410>
diff --git a/urdf/realsense_r430.xacro b/urdf/realsense_r430.xacro
index 4d6ca84..768d9bd 100644
--- a/urdf/realsense_r430.xacro
+++ b/urdf/realsense_r430.xacro
@@ -8,7 +8,7 @@
<xacro:macro name="realsense_r430_depth" params="parent model *origin sim_config">
<xacro:arg name="use_nominal_extrinsics" default="True" />
- <sensor_r430 parent="${parent}" name="${name}">
+ <sensor_r430 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
<xacro:insert_block name="origin"/>
</sensor_r430>
--
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