From bcb006cfe619f9d9f3221515e18b2af0f4a57a10 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Tue, 14 May 2024 14:11:07 +0200
Subject: [PATCH 1/6] Fix components urdf

---
 .../urdf/rosbot_xl.urdf.xacro                  | 18 ------------------
 1 file changed, 18 deletions(-)

diff --git a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
index a994bc3..77c5896 100644
--- a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
+++ b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
@@ -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"
@@ -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>
 
@@ -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>
 
@@ -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>
 
@@ -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>
 
@@ -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>
 
@@ -102,8 +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>
@@ -126,7 +111,6 @@
       xyz="${camera_xyz}"
       rpy="${camera_rpy}"
       use_nominal_extrinsics="$(arg use_sim)"
-      simulation_engine="$(arg simulation_engine)"
       namespace="$(arg namespace)" />
   </xacro:if>
 
@@ -138,7 +122,6 @@
       parent_link="${camera_parent_link}"
       xyz="${camera_xyz}"
       rpy="${camera_rpy}"
-      simulation_engine="$(arg simulation_engine)"
       namespace="$(arg namespace)" />
   </xacro:if>
 
@@ -170,7 +153,6 @@
       xyz="${camera_xyz}"
       rpy="${camera_rpy}"
       model="${camera_model_type}"
-      simulation_engine="$(arg simulation_engine)"
       namespace="$(arg namespace)" />
   </xacro:if>
 

From dba002920b3d5e162de5cb716a96fa32496d1a9b Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Tue, 14 May 2024 14:41:51 +0200
Subject: [PATCH 2/6] unused topic remove

---
 rosbot_xl_description/urdf/rosbot_xl.urdf.xacro | 1 -
 1 file changed, 1 deletion(-)

diff --git a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
index 77c5896..11ad118 100644
--- a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
+++ b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
@@ -89,7 +89,6 @@
       parent_link="${lidar_parent_link}"
       xyz="${lidar_xyz}"
       rpy="${lidar_rpy}"
-      topic="velodyne_points"
       namespace="$(arg namespace)" />
   </xacro:if>
 

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 3/6] 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 -->
 

From 178e97c3d46b32304525849607815520915f9424 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Tue, 14 May 2024 17:12:02 +0200
Subject: [PATCH 4/6] Style

---
 rosbot_xl_description/urdf/rosbot_xl.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
index d686dee..9acb301 100644
--- a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
+++ b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
@@ -19,7 +19,7 @@
 
   <xacro:include filename="$(find rosbot_xl_description)/urdf/components/antenna.urdf.xacro"
     ns="antenna" />
-    <xacro:antenna.antenna
+  <xacro:antenna.antenna
     parent_link="body_link"
     xyz="-0.155 0.055 0.065"
     rpy="0.0 0.0 0.0"

From 5c0cca78420bc4faa589faec623764881d329108 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Wed, 15 May 2024 10:57:29 +0200
Subject: [PATCH 5/6] Antenna

---
 rosbot_xl_description/urdf/rosbot_xl.urdf.xacro | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)

diff --git a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
index 9acb301..7c0acdb 100644
--- a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
+++ b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
@@ -20,15 +20,9 @@
   <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"
-    tf_prefix="right" />
+  parent_link="body_link"
+  xyz="-0.155 -0.055 0.065"
+  rpy="0.0 0.0 0.0" />
 
   <!-- INCLUDE LIDAR -->
 

From 057211582f76a8d736ba55ad2e52fd39cbcab6fa Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Wed, 15 May 2024 11:00:07 +0200
Subject: [PATCH 6/6] Antenna

---
 rosbot_xl_description/urdf/rosbot_xl.urdf.xacro | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
index 7c0acdb..46b0776 100644
--- a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
+++ b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
@@ -22,7 +22,8 @@
   <xacro:antenna.antenna
   parent_link="body_link"
   xyz="-0.155 -0.055 0.065"
-  rpy="0.0 0.0 0.0" />
+  rpy="0.0 0.0 0.0"
+  antenna_angle="0.0" />
 
   <!-- INCLUDE LIDAR -->