Fix namespaces

config/hokuyo_utm30lx.yaml

@@ -17,5 +17,4 @@ noise_type: 'gaussian'
 noise_mean: 0.0
 noise_stddev: 0.01
 topic_name: 'scan'
-frame_name: 'scan_frame'
-
+frame_name: 'scan_frame'
\ No newline at end of file

urdf/laser2d.gazebo

 <?xml version="1.0"?>
 <root xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="iri_laser2d_gazebo" params="name model">
-    <xacro:property name="config" value="$(find iri_laser2d_gazebo)/config/${model}.yaml"/>
+  <xacro:macro name="iri_laser2d_gazebo" params="name prefix config_file">
+    <xacro:property name="config" value="${config_file}"/>
     <xacro:property name="properties" value="${load_yaml(config)}"/>
 
     <gazebo reference="${name}_base">
       <material>Gazebo/Black</material>
     </gazebo>
 
-    <gazebo reference="${name}_sense">
+    <gazebo reference="${name}_scan_frame">
       <sensor type="ray" name="${name}_sensor">
         <pose>${properties['pose_x']} ${properties['pose_y']} ${properties['pose_z']} ${properties['pose_roll']} ${properties['pose_pitch']} ${properties['pose_yaw']}</pose>
         <visualize>${properties['visualize']}</visualize>
@@ -34,8 +34,8 @@
           </noise>
         </ray>
         <plugin name="${name}_controller" filename="libgazebo_ros_laser.so">
-          <topicName>${properties['topic_name']}</topicName>
-          <frameName>${properties['frame_name']}</frameName>
+          <topicName>${name}_${properties['topic_name']}</topicName>
+          <frameName>${name}_${properties['frame_name']}</frameName>
         </plugin>
       </sensor>
     </gazebo>