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Fix components urdf #68

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merged 2 commits into from
May 14, 2024
Merged

Fix components urdf #68

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bcb006c
Fix components urdf
rafal-gorecki May 14, 2024
dba0029
unused topic remove
rafal-gorecki May 14, 2024
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19 changes: 0 additions & 19 deletions rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -31,9 +31,6 @@
<xacro:property name="lidar_parent_link" value="cover_link" />
<xacro:property name="lidar_xyz" value="0.02 0.0 0.0" />
<xacro:property name="lidar_rpy" value="0.0 0.0 0.0" />
<xacro:property name="lidar_use_gpu" value="true" />
<!-- use_gpu has to be set to true, CPU lidar doesn't work in ignition -
https://github.com/gazebosim/gz-sensors/issues/26 -->

<xacro:if value="${lidar_model == 'slamtec_rplidar_s1'}">
<xacro:include filename="$(find ros_components_description)/urdf/slamtec_rplidar_s1.urdf.xacro"
Expand All @@ -42,8 +39,6 @@
parent_link="${lidar_parent_link}"
xyz="${lidar_xyz}"
rpy="${lidar_rpy}"
use_gpu="${lidar_use_gpu}"
simulation_engine="$(arg simulation_engine)"
namespace="$(arg namespace)" />
</xacro:if>

Expand All @@ -54,8 +49,6 @@
parent_link="${lidar_parent_link}"
xyz="${lidar_xyz}"
rpy="${lidar_rpy}"
use_gpu="${lidar_use_gpu}"
simulation_engine="$(arg simulation_engine)"
namespace="$(arg namespace)" />
</xacro:if>

Expand All @@ -66,8 +59,6 @@
parent_link="${lidar_parent_link}"
xyz="${lidar_xyz}"
rpy="${lidar_rpy}"
use_gpu="${lidar_use_gpu}"
simulation_engine="$(arg simulation_engine)"
namespace="$(arg namespace)" />
</xacro:if>

Expand All @@ -78,8 +69,6 @@
parent_link="${lidar_parent_link}"
xyz="${lidar_xyz}"
rpy="${lidar_rpy}"
use_gpu="${lidar_use_gpu}"
simulation_engine="$(arg simulation_engine)"
namespace="$(arg namespace)" />
</xacro:if>

Expand All @@ -90,8 +79,6 @@
parent_link="${lidar_parent_link}"
xyz="${lidar_xyz}"
rpy="${lidar_rpy}"
use_gpu="${lidar_use_gpu}"
simulation_engine="$(arg simulation_engine)"
namespace="$(arg namespace)" />
</xacro:if>

Expand All @@ -102,9 +89,6 @@
parent_link="${lidar_parent_link}"
xyz="${lidar_xyz}"
rpy="${lidar_rpy}"
use_gpu="${lidar_use_gpu}"
simulation_engine="$(arg simulation_engine)"
topic="velodyne_points"
namespace="$(arg namespace)" />
</xacro:if>

Expand All @@ -126,7 +110,6 @@
xyz="${camera_xyz}"
rpy="${camera_rpy}"
use_nominal_extrinsics="$(arg use_sim)"
simulation_engine="$(arg simulation_engine)"
namespace="$(arg namespace)" />
</xacro:if>

Expand All @@ -138,7 +121,6 @@
parent_link="${camera_parent_link}"
xyz="${camera_xyz}"
rpy="${camera_rpy}"
simulation_engine="$(arg simulation_engine)"
namespace="$(arg namespace)" />
</xacro:if>

Expand Down Expand Up @@ -170,7 +152,6 @@
xyz="${camera_xyz}"
rpy="${camera_rpy}"
model="${camera_model_type}"
simulation_engine="$(arg simulation_engine)"
namespace="$(arg namespace)" />
</xacro:if>

Expand Down
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