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Make URDF compatible with Gazebo Simulation and accessing robot description from a remote robot (machine). #41

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Make URDF compatible with Gazebo Simulation and accessing robot description from a remote robot (machine). #41

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26 changes: 20 additions & 6 deletions description/urdf/nanoscan3/nanoscan3_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -23,11 +23,25 @@
max_angle
min_range
max_range
gaussian_noise:=0.006
max_beams:=540
gaussian_noise:=0.006
max_beams:=540
simulation:=false
*origin
">

<xacro:if value="${simulation}">
<xacro:property
name="file_prefix"
value="file://$(find sick_safetyscanners2)"
/>
</xacro:if>
<xacro:unless value="${simulation}">
<xacro:property
name="file_prefix"
value="package://sick_safetyscanners2"
/>
</xacro:unless>

<xacro:if value="${mounting_kit}">
<!-- MOUNT -->
<joint name="${name}_mount_joint" type="fixed">
Expand All @@ -42,15 +56,15 @@
<xacro:default_inertial/>
<visual>
<geometry>
<mesh filename="file://$(find sick_safetyscanners2)/description/meshes/MountingKit_2a.dae"/>
<mesh filename="${file_prefix}/description/meshes/MountingKit_2a.dae"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="file://$(find sick_safetyscanners2)/description/meshes/MountingKit_2a_collision.stl"/>
<mesh filename="${file_prefix}/description/meshes/MountingKit_2a_collision.stl"/>
</geometry>
</collision>
</link>
Expand Down Expand Up @@ -89,7 +103,7 @@
<visual>
<origin xyz="${-base_x} ${-(sensor_y + base_y)} ${-sensor_z}" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find sick_safetyscanners2)/description/meshes/NANS3.dae"/>
<mesh filename="${file_prefix}/description/meshes/NANS3.dae"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
Expand All @@ -98,7 +112,7 @@
<collision>
<origin xyz="${-base_x} ${-(sensor_y + base_y)} ${-sensor_z}" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find sick_safetyscanners2)/description/meshes/NANS3_collision.stl"/>
<mesh filename="${file_prefix}/description/meshes/NANS3_collision.stl"/>
</geometry>
</collision>
</link>
Expand Down