Ceiling panel changed to square with pan and tilt. Box/obstacle color changed to white

road_description/urdf/box/gazebo.gazebo

@@ -17,7 +17,7 @@
     </gazebo>
     
     <gazebo reference="body">
-      <material>Gazebo/Grey</material>
+      <material>Gazebo/White</material>
       <mu1>0</mu1>
       <mu2>0</mu2>
     </gazebo>

road_description/urdf/box/urdf.xacro

@@ -45,7 +45,7 @@
         <geometry>
           <box size="${LENGTH} ${WIDTH} ${HEIGHT}"/>
         </geometry>
-        <material name="grey"/>
+        <material name="white"/>
       </visual>
     </link>
     

road_description/urdf/ceiling/panel_macro.xacro

@@ -3,7 +3,7 @@
 <root xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find road_description)/urdf/materials.xacro" />
-  <xacro:property name="default_width" value="1.0" />
+  <xacro:property name="default_width" value="0.6" />
   <xacro:property name="default_thick" value="0.02" />
 
   <xacro:macro name="panel" 
@@ -31,16 +31,16 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <!--<box size="${width} ${width} ${thick}"/>-->
-          <cylinder radius="${width/2.0}" length="${thick}"/>
+          <box size="${width} ${width} ${thick}"/>
+          <!--<cylinder radius="${width/2.0}" length="${thick}"/>-->
         </geometry>
         <material name="${urdf_color}"/>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <!--<box size="${width} ${width} ${thick}"/>-->
-          <cylinder radius="${width/2.0}" length="${thick}"/>
+          <box size="${width} ${width} ${thick}"/>
+          <!--<cylinder radius="${width/2.0}" length="${thick}"/>-->
         </geometry>
       </collision>
     </link>

road_description/urdf/circuits/full/ceiling_panels.xacro

 <?xml version="1.0"?>
 <robot name="ceiling" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
+  <xacro:property name="PI" value="3.1415926535897931" />
+  <xacro:property name="pan" value="${PI/4}" />
+  <xacro:property name="tilt" value="${PI/4}" />
+  
   <xacro:include filename="$(find road_description)/urdf/ceiling/panel_macro.xacro" />  
 
   <link name="$(arg parent)"/>
@@ -9,28 +13,28 @@
                parent="$(arg parent)"
                gazebo_material="Gazebo/Red"
                urdf_color="red">
-    <origin xyz="5.0 0.0 $(arg height)" rpy="0 0 0"/>
+    <origin xyz="5.0 0.0 $(arg height)" rpy="${-tilt} 0 ${-pan}"/>
   </xacro:panel>
   
   <xacro:panel name="panel_green" 
                parent="$(arg parent)"
                gazebo_material="Gazebo/Green"
                urdf_color="green">
-    <origin xyz="5.0 -10.0 $(arg height)" rpy="0 0 0"/>
+    <origin xyz="5.0 -10.0 $(arg height)" rpy="${tilt} 0 ${pan}"/>
   </xacro:panel>
   
   <xacro:panel name="panel_blue" 
                parent="$(arg parent)"
                gazebo_material="Gazebo/Blue"
                urdf_color="blue">
-    <origin xyz="-5.0 0.0 $(arg height)" rpy="0 0 0"/>
+    <origin xyz="-5.0 0.0 $(arg height)" rpy="${-tilt} 0 ${pan}"/>
   </xacro:panel>
   
   <xacro:panel name="panel_purple" 
                parent="$(arg parent)"
                gazebo_material="Gazebo/Purple"
                urdf_color="purple">
-    <origin xyz="-5.0 -10.0 $(arg height)" rpy="0 0 0"/>
+    <origin xyz="-5.0 -10.0 $(arg height)" rpy="${tilt} 0 ${-pan}"/>
   </xacro:panel>
 
 </robot>
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