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Remove urdf from file names with macro definition #326

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Remove urdf from file names with macro definition #326

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8 changes: 4 additions & 4 deletions turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -2,9 +2,9 @@
<robot name="turtlebot4" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Base create3 model -->
<xacro:include filename="$(find irobot_create_description)/urdf/create3.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/rplidar.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/oakd.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/camera_bracket.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/rplidar_macro.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/oakd_macro.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/camera_bracket_macro.xacro" />

<!-- Mechanical properties -->
<xacro:property name="rplidar_x_offset" value="${0.393584*cm2m}"/>
Expand All @@ -25,7 +25,7 @@
<origin xyz="${rplidar_x_offset} ${rplidar_y_offset} ${rplidar_z_offset + base_link_z_offset}"
rpy="0 0 ${pi/2}"/>
</xacro:rplidar>

<xacro:camera_bracket name="oakd_camera_bracket" parent_link="base_link">
<origin xyz="${camera_mount_x_offset} ${camera_mount_y_offset} ${camera_mount_z_offset + base_link_z_offset}"/>
</xacro:camera_bracket>
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0 ...on/urdf/sensors/camera_bracket.urdf.xacro → ...n/urdf/sensors/camera_bracket_macro.xacro
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0 ..._description/urdf/sensors/oakd.urdf.xacro → ...description/urdf/sensors/oakd_macro.xacro
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0 ...scription/urdf/sensors/rplidar.urdf.xacro → ...cription/urdf/sensors/rplidar_macro.xacro
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0 ...df/standard/tower_sensor_plate.urdf.xacro → ...f/standard/tower_sensor_plate_macro.xacro
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0 ...n/urdf/standard/tower_standoff.urdf.xacro → .../urdf/standard/tower_standoff_macro.xacro
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12 changes: 6 additions & 6 deletions turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -2,12 +2,12 @@
<robot name="turtlebot4" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Base create3 model -->
<xacro:include filename="$(find irobot_create_description)/urdf/create3.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/rplidar.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/oakd.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/camera_bracket.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/standard/tower_standoff.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/standard/tower_sensor_plate.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/standard/weight_block.urdf.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/rplidar_macro.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/oakd_macro.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/sensors/camera_bracket_macro.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/standard/tower_standoff_macro.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/standard/tower_sensor_plate_macro.xacro" />
<xacro:include filename="$(find turtlebot4_description)/urdf/standard/weight_block_macro.xacro" />

<!-- Mechanical properties -->
<xacro:property name="shell_z_offset" value="${3*cm2m}" />
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0 ...ion/urdf/standard/weight_block.urdf.xacro → ...on/urdf/standard/weight_block_macro.xacro
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