From f929584aea4f7ae5112cfd5b965aa486e8d3d1d9 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Tue, 14 May 2024 17:11:03 +0200
Subject: [PATCH] Add second antenna

---
 rosbot_xl_description/urdf/rosbot_xl.urdf.xacro | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
index 11ad118..d686dee 100644
--- a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
+++ b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
@@ -19,11 +19,16 @@
 
   <xacro:include filename="$(find rosbot_xl_description)/urdf/components/antenna.urdf.xacro"
     ns="antenna" />
+    <xacro:antenna.antenna
+    parent_link="body_link"
+    xyz="-0.155 0.055 0.065"
+    rpy="0.0 0.0 0.0"
+    tf_prefix="left" />
   <xacro:antenna.antenna
     parent_link="body_link"
     xyz="-0.155 -0.055 0.065"
     rpy="0.0 0.0 0.0"
-    antenna_angle="0.0" />
+    tf_prefix="right" />
 
   <!-- INCLUDE LIDAR -->