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>
-- 
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