xacroファイル中の重複しているif文をひとまとめにする

rt-net · Oct 27, 2023 · dc288b7 · dc288b7
1 parent 425c43a
commit dc288b7
Showing 1 changed file with 6 additions and 8 deletions.
diff --git a/urdf/sensors/rgb_camera.xacro b/urdf/sensors/rgb_camera.xacro
@@ -19,16 +19,14 @@
     </xacro:sensor_d435>
   </xacro:if>
 
-  <gazebo>
-    <xacro:if value="${use_gazebo}">
+  <xacro:if value="${use_gazebo}">
+    <gazebo>
       <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
         <render_engine>ogre2</render_engine>
       </plugin>
-    </xacro:if>
-  </gazebo>
+    </gazebo>
 
-  <gazebo reference="camera_link">
-    <xacro:if value="${use_gazebo}">
+    <gazebo reference="camera_link">
       <sensor name="camera_link" type="camera">
         <update_rate>30.0</update_rate>
         <always_on>true</always_on>
@@ -48,8 +46,8 @@
           </clip>
         </camera>
       </sensor>
-    </xacro:if>
-  </gazebo>
+    </gazebo>
+  </xacro:if>
 </xacro:macro>
 
 </robot>