diff --git a/launch/bno055_imu_sim.launch b/launch/bno055_imu_sim.launch index 20d187e98b2db9987c1874500159e0dd605f0242..339bee369b39f01906783406d78dee260bf2aea3 100644 --- a/launch/bno055_imu_sim.launch +++ b/launch/bno055_imu_sim.launch @@ -12,7 +12,7 @@ <arg name="debug" value="false"/> <arg name="physics" value="ode"/> <arg name="verbose" value="false"/> - <arg name="world_name" value="worlds/empty.world"/> + <arg name="world_name" value="worlds/empty.world"/> <arg name="respawn_gazebo" value="false"/> <arg name="use_clock_frequency" value="false"/> <arg name="pub_clock_frequency" value="100"/> @@ -20,13 +20,13 @@ <group ns="imu"> <param name="robot_description" - command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" /> + command="$(find xacro)/xacro '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="bno055_tf_broadcaster"> <param name="tf_prefix" type="string" value="bno055"/> <param name="publish_frequency" type="double" value="20.0"/> </node> - + <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model imu -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" /> </group> diff --git a/launch/microstrain_imu_sim.launch b/launch/microstrain_imu_sim.launch index 37ec2c45ebc32d98af8a7f881bdbf8b62493ea86..f53a873acc8410cd1dd721a0c06fe3ed02afd09f 100644 --- a/launch/microstrain_imu_sim.launch +++ b/launch/microstrain_imu_sim.launch @@ -12,14 +12,14 @@ <arg name="debug" value="false"/> <arg name="physics" value="ode"/> <arg name="verbose" value="false"/> - <arg name="world_name" value="worlds/empty.world"/> + <arg name="world_name" value="worlds/empty.world"/> <arg name="respawn_gazebo" value="false"/> <arg name="use_clock_frequency" value="false"/> <arg name="pub_clock_frequency" value="100"/> </include> <param name="robot_description" - command="$(find xacro)/xacro --inorder '$(find iri_microstrain_imu_description)/urdf/microstrain_imu_example.xacro'" /> + command="$(find xacro)/xacro '$(find iri_microstrain_imu_description)/urdf/microstrain_imu_example.xacro'" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="microstrain_tf_broadcaster"> <param name="tf_prefix" type="string" value="microstrain"/> diff --git a/launch/mpu9250_imu_sim.launch b/launch/mpu9250_imu_sim.launch index 488c54040b510f2333a8cdb64b69b6ea32499f42..846feb64525527d1faac9ad506f6e4d69744f7a7 100644 --- a/launch/mpu9250_imu_sim.launch +++ b/launch/mpu9250_imu_sim.launch @@ -12,7 +12,7 @@ <arg name="debug" value="false"/> <arg name="physics" value="ode"/> <arg name="verbose" value="false"/> - <arg name="world_name" value="worlds/empty.world"/> + <arg name="world_name" value="worlds/empty.world"/> <arg name="respawn_gazebo" value="false"/> <arg name="use_clock_frequency" value="false"/> <arg name="pub_clock_frequency" value="100"/> @@ -20,13 +20,13 @@ <group ns="imu"> <param name="robot_description" - command="$(find xacro)/xacro --inorder '$(find iri_mpu9250_imu_description)/urdf/mpu9250_imu_example.xacro'" /> + command="$(find xacro)/xacro '$(find iri_mpu9250_imu_description)/urdf/mpu9250_imu_example.xacro'" /> <node pkg="robot_state_publisher" type="robot_state_publisher" name="mpu9250_tf_broadcaster"> <param name="tf_prefix" type="string" value="mpu9250"/> <param name="publish_frequency" type="double" value="20.0"/> </node> - + <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model imu -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" /> </group> diff --git a/urdf/imu.gazebo b/urdf/imu.gazebo index 2b3d85bfb1cd9bee96a88cd9ee686e54c9192b08..ed1259efacd4175519fe9ff31b6a41fb280942d9 100644 --- a/urdf/imu.gazebo +++ b/urdf/imu.gazebo @@ -1,7 +1,7 @@ <?xml version="1.0"?> <root xmlns:xacro="http://ros.org/wiki/xacro"> <xacro:macro name="iri_imu_gazebo" params="name config"> - <xacro:property name="properties" value="${load_yaml(config)}"/> + <xacro:property name="properties" value="${xacro.load_yaml(config)}"/> <gazebo reference="${name}"> <material>Gazebo/Black</material>