diff --git a/urdf/lidar_lite.xacro b/urdf/lidar_lite.xacro index 1924324a8342c45cf1964927db71cb68ce42e895..1f1d7baa2fa25043dea5d643f47095db68de1476 100644 --- a/urdf/lidar_lite.xacro +++ b/urdf/lidar_lite.xacro @@ -3,7 +3,7 @@ <root xmlns:xacro="http://ros.org/wiki/xacro"> <xacro:macro name="lidar_lite" params="name parent resolution *origin"> - <link name="${name}_lidar_lite_base"> + <link name="${name}_base"> <inertial> <mass value="0.022" /> <origin xyz="-0.01383390 0.01454150 0.01782971" rpy="0 0 0"/> @@ -28,18 +28,18 @@ </collision> </link> - <joint name="joint_${parent}_to_${name}_lidar_lite_base" type="fixed" > + <joint name="joint_${parent}_to_${name}_base" type="fixed" > <parent link="${parent}"/> - <child link="${name}_lidar_lite_base"/> + <child link="${name}_base"/> <xacro:insert_block name="origin" /> </joint> - <link name="${name}_lidar_lite"> + <link name="${name}"> </link> - <joint name="joint_${name}_lidar_lite_base_to_${name}_lidar_lite" type="fixed" > - <parent link="${name}_lidar_lite_base"/> - <child link="${name}_lidar_lite"/> + <joint name="joint_${name}_base_to_${name}" type="fixed" > + <parent link="${name}_base"/> + <child link="${name}"/> <origin xyz="-0.01386 0.01454 0.041" rpy="3.14159 1.5707 0" /> </joint> diff --git a/urdf/lidar_lite_example.xacro b/urdf/lidar_lite_example.xacro index aff05ce0d41bbd59fa36e11018c290f34679d85e..761e46e5753ef964b81fe95c35f28c035ee4cb7a 100644 --- a/urdf/lidar_lite_example.xacro +++ b/urdf/lidar_lite_example.xacro @@ -4,7 +4,7 @@ <xacro:include filename="$(find iri_lidar_lite_description)/urdf/lidar_lite.xacro" /> - <link name="lidar_base" > + <link name="lidar_base_parent" > <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> @@ -27,7 +27,7 @@ </collision> </link> - <xacro:lidar_lite name="lidar_lite_example" parent="lidar_base" resolution="high_res"> + <xacro:lidar_lite name="lidar_lite" parent="lidar_base_parent" resolution="high_res"> <origin xyz="0.0 0.0 0.5" rpy="0 0 0" /> </xacro:lidar_lite>