Fix namespaces

urdf/hokuyo_laser2d.xacro

@@ -3,8 +3,17 @@
 <root xmlns:xacro="http://ros.org/wiki/xacro">
 
   <xacro:include filename="$(find iri_laser2d_gazebo)/urdf/laser2d.gazebo" />
-
-  <xacro:macro name="hokuyo_laser2d" params="name parent resolution model *origin">
+  
+  <xacro:property name="default_config" value="$(find iri_laser2d_gazebo)/config/hokuyo_utm30lx.yaml"/>
+
+  <xacro:macro name="hokuyo_laser2d" 
+               params="name:=main 
+                       prefix:=robot
+                       parent:=base
+                       mesh_resolution:=low
+                       config_file:=${default_config}
+                       model:=utm30lx
+                       *origin">
 
     <link name="${name}_hokuyo_base">
       <inertial>
@@ -17,7 +26,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://iri_hokuyo_laser2d_description/meshes/${resolution}_hokuyo_${model}.stl" />
+          <mesh filename="package://iri_hokuyo_laser2d_description/meshes/${mesh_resolution}_hokuyo_${model}.stl" />
         </geometry>
         <material name="DarkGrey">
           <color rgba="0.2 0.2 0.2 1.0"/>
@@ -37,16 +46,16 @@
       <xacro:insert_block name="origin" />
     </joint>
 
-    <link name="${name}_hokuyo_sense">
+    <link name="${name}_hokuyo_scan_frame">
     </link>
 
-    <joint name="joint_${name}_hokuyo_base_to_${name}_hokuyo_sense" type="fixed" >
+    <joint name="joint_${name}_hokuyo_base_to_${name}_hokuyo_scan_frame" type="fixed" >
       <parent link="${name}_hokuyo_base"/>
-      <child link="${name}_hokuyo_sense"/>
+      <child link="${name}_hokuyo_scan_frame"/>
       <origin xyz="0.0 0.0 0.05625" rpy="0 0 0" />
     </joint>
 
-    <xacro:iri_laser2d_gazebo name="${name}_hokuyo" model="hokuyo_${model}"/>
+    <xacro:iri_laser2d_gazebo name="${name}_hokuyo" prefix="${prefix}" config_file="${config_file}"/>
 
   </xacro:macro>
 

urdf/hokuyo_laser2d_example.xacro

@@ -27,7 +27,7 @@
     </collision>
   </link>
 
-  <xacro:hokuyo_laser2d name="top" parent="hokuyo_base" resolution="low_res" model="utm30lx">
+  <xacro:hokuyo_laser2d name="top" prefix="robot" parent="hokuyo_base" resolution="low_res" model="utm30lx">
     <origin xyz="0.0 0.0 0.5" rpy="0 0 0" />
   </xacro:hokuyo_laser2d>