From a3c2b9e892bc48d80cf942d41618abc87b2117fe Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 20 Sep 2018 17:36:59 +0200
Subject: [PATCH] Fix namespaces
---
config/hokuyo_utm30lx.yaml | 3 +--
urdf/laser2d.gazebo | 10 +++++-----
2 files changed, 6 insertions(+), 7 deletions(-)
diff --git a/config/hokuyo_utm30lx.yaml b/config/hokuyo_utm30lx.yaml
index 3cbb057..990a05d 100644
--- a/config/hokuyo_utm30lx.yaml
+++ b/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
diff --git a/urdf/laser2d.gazebo b/urdf/laser2d.gazebo
index 469cd52..3dd1c5b 100644
--- a/urdf/laser2d.gazebo
+++ b/urdf/laser2d.gazebo
@@ -1,14 +1,14 @@
<?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>
--
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