From 743fc8c99cee2b8d972fa8658c0bf975fcc68d95 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 22 Jun 2018 14:27:25 +0200
Subject: [PATCH] Used sensor independant name in the gazebo xacro macro.
---
launch/microstrain_imu_sim.launch | 6 +-----
urdf/imu.gazebo | 4 ++--
2 files changed, 3 insertions(+), 7 deletions(-)
diff --git a/launch/microstrain_imu_sim.launch b/launch/microstrain_imu_sim.launch
index 4db1c1f..2999382 100644
--- a/launch/microstrain_imu_sim.launch
+++ b/launch/microstrain_imu_sim.launch
@@ -8,14 +8,11 @@
<arg name="extra_gazebo_args" value=""/>
<arg name="gui" value="true"/>
<arg name="recording" value="false"/>
- <!-- Note that 'headless' is currently non-functional. See gazebo_ros_pkgs issue #491 (-r arg does not disable
- rendering, but instead enables recording). The arg definition has been left here to prevent breaking downstream
- launch files, but it does nothing. -->
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="physics" value="ode"/>
<arg name="verbose" value="false"/>
- <arg name="world_name" value="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
+ <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"/>
@@ -29,7 +26,6 @@
<param name="publish_frequency" type="double" value="20.0"/>
</node>
- <!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model microstrain_imu -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
</launch>
diff --git a/urdf/imu.gazebo b/urdf/imu.gazebo
index 583720f..07dc8c9 100644
--- a/urdf/imu.gazebo
+++ b/urdf/imu.gazebo
@@ -3,12 +3,12 @@
<xacro:macro name="iri_imu_gazebo" params="name config">
<xacro:property name="properties" value="${load_yaml(config)}"/>
- <gazebo reference="${name}_microstrain_imu">
+ <gazebo reference="${name}_imu">
<material>Gazebo/Black</material>
</gazebo>
<gazebo>
- <plugin name="${name}_microstrain_imu_sim" filename="libhector_gazebo_ros_imu.so">
+ <plugin name="${name}_imu_sim" filename="libhector_gazebo_ros_imu.so">
<updateRate>${properties['rate']}</updateRate>
<robotNamespace>${properties['namespace']}</robotNamespace>
<bodyName>${name}_microstrain_imu</bodyName>
--
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