From 5aa92c9c3e40632bd128a0e7b19ef3bd8304040b Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan <shernand@iri.upc.edu> Date: Wed, 15 Jan 2020 15:33:17 +0100 Subject: [PATCH] Removed the hardcoded frame name for the robosense lidar. It uses the name given to the sensor. --- urdf/rslidar16.xacro | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/urdf/rslidar16.xacro b/urdf/rslidar16.xacro index 7eab7bc..521611f 100644 --- a/urdf/rslidar16.xacro +++ b/urdf/rslidar16.xacro @@ -24,10 +24,10 @@ <joint name="${name}_base_scan_joint" type="fixed" > <origin xyz="0 0 0.0414" rpy="0 0 0" /> <parent link="${name}_base" /> - <child link="rslidar"/> + <child link="${name}"/> </joint> - <link name="rslidar"> + <link name="${name}"> <inertial> <mass value="0.1"/> <origin xyz="0 0 0"/> @@ -47,7 +47,7 @@ </collision> </link> - <xacro:iri_velodyne_gazebo name="rslidar" config="${sim_config}"/> + <xacro:iri_velodyne_gazebo name="${name}" config="${sim_config}"/> </xacro:macro> </root> -- GitLab