CopterExpress/clover
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clover_description: make xacro include relative

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This commit is contained in:
Oleg Kalachev
2021-08-14 21:39:57 +03:00
parent 8cb911854d
commit 0dffeca55f
6 changed files with 10 additions and 10 deletions
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8
clover_description/urdf/clover/clover4.xacro
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@@ -8,10 +8,10 @@
<xacro:arg name="maintain_camera_rate" default="false"/>
<xacro:arg name="use_clover_physics" default="false"/>
<xacro:include filename="$(find clover_description)/urdf/clover/clover4_base.xacro" />
<xacro:include filename="$(find clover_description)/urdf/sensors/rpi_cam.urdf.xacro"/>
<xacro:include filename="$(find clover_description)/urdf/sensors/distance_sensor.urdf.xacro"/>
<xacro:include filename="$(find clover_description)/urdf/leds/led_strip.xacro"/>
<xacro:include filename="clover4_base.xacro" />
<xacro:include filename="../sensors/rpi_cam.urdf.xacro"/>
<xacro:include filename="../sensors/distance_sensor.urdf.xacro"/>
<xacro:include filename="../leds/led_strip.xacro"/>
<!-- Create camera plugin -->
<xacro:if value="$(arg main_camera)">

4
clover_description/urdf/clover/clover4_base.xacro
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@@ -31,10 +31,10 @@
<xacro:arg name='log_file' default='iris' />
<!-- macros for gazebo plugins, sensors -->
<xacro:include filename="$(find clover_description)/urdf/component_snippets.urdf.xacro" />
<xacro:include filename="../component_snippets.urdf.xacro" />
<!-- Instantiate iris "mechanics" -->
<xacro:include filename="$(find clover_description)/urdf/clover/clover4_physics.xacro" />
<xacro:include filename="clover4_physics.xacro" />
<xacro:if value="$(arg enable_wind)">
<xacro:wind_plugin_macro

2
clover_description/urdf/clover/clover4_physics.xacro
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@@ -84,7 +84,7 @@
</xacro:unless>
<!-- Included URDF Files -->
<xacro:include filename="$(find clover_description)/urdf/clover/clover4_macros.xacro" />
<xacro:include filename="clover4_macros.xacro" />
<!-- Instantiate multirotor_base_macro once -->
<xacro:clover4_base_macro

2
clover_description/urdf/sensors/distance_sensor.urdf.xacro
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@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
<xacro:include filename="../camera_sensor.urdf.xacro"/>
<xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10">
<joint name="${name}_joint" type="fixed">

2
clover_description/urdf/sensors/pinhole_camera.urdf.xacro
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
<robot name="pinhole_camera" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
<xacro:include filename="../camera_sensor.urdf.xacro"/>
<xacro:camera_sensor name="main_camera" width="640" height="480" rate="30" horizontal_fov="${120.0*pi/180.0}"/>
</robot>

2
clover_description/urdf/sensors/rpi_cam.urdf.xacro
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@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
<xacro:include filename="../camera_sensor.urdf.xacro"/>
<xacro:macro name="rpi_cam" params="name:=rpi_cam parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 width:=320 height:=240 rate:=40 do_throttling:=false">
<joint name="${name}_joint" type="fixed">