Added the gazebo plug-in.

Changed the name of some frames.

urdf/lidar_lite.xacro

@@ -2,7 +2,9 @@
 
 <root xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:macro name="lidar_lite" params="name parent resolution *origin">
+  <xacro:include filename="$(find iri_ranger1d_gazebo)/urdf/ranger1d.gazebo" />
+
+  <xacro:macro name="lidar_lite" params="name parent resolution *origin sim_config">
     <link name="${name}_base">
       <inertial>
         <mass value="0.022" />
@@ -34,15 +36,17 @@
       <xacro:insert_block name="origin" />
     </joint>
 
-    <link name="${name}">
+    <link name="${name}_ranger1d">
     </link>
 
-    <joint name="joint_${name}_base_to_${name}" type="fixed" >
+    <joint name="joint_${name}_base_to_${name}_ranger1d" type="fixed" >
       <parent link="${name}_base"/>
-      <child link="${name}"/>
+      <child link="${name}_ranger1d"/>
       <origin xyz="-0.01386 0.01454 0.041" rpy="3.14159 -1.5707 0" />
     </joint>
 
+    <xacro:iri_ranger1d_gazebo name="${name}" config="${sim_config}"/>
+
   </xacro:macro>
 
 </root>

urdf/lidar_lite_example.xacro

@@ -27,7 +27,7 @@
     </collision>
   </link>
 
-  <xacro:lidar_lite name="lidar_lite" parent="lidar_base_parent" resolution="high_res">
+  <xacro:lidar_lite name="lidar_lite" parent="lidar_base_parent" resolution="high_res" sim_config="$(find iri_ranger1d_gazebo)/config/lidar_lite_ranger1d_sim_config.yaml">
     <origin xyz="0.0 0.0 0.5" rpy="0 0 0" />
   </xacro:lidar_lite>