From 00f50f5b7c681615fa6d9f91291c2ba99b85c147 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Thu, 9 May 2024 11:24:51 +0200
Subject: [PATCH] Suggestions

---
 README.md                            |  21 +--
 package.xml                          |  25 +---
 test/component.urdf.xacro            |   2 -
 urdf/intel_realsense_d435.urdf.xacro | 193 ++++++++++++-------------
 urdf/orbbec_astra.urdf.xacro         |   6 +-
 urdf/ouster_os1_32.urdf.xacro        |   4 +
 urdf/slamtec_rplidar_s1.urdf.xacro   |   2 +-
 urdf/stereolabs_zed.urdf.xacro       | 206 +++++++++++++--------------
 8 files changed, 207 insertions(+), 252 deletions(-)

diff --git a/README.md b/README.md
index 54538a9..de8404d 100644
--- a/README.md
+++ b/README.md
@@ -15,12 +15,6 @@ git clone https://github.com/husarion/ros_components_description.git src/ros_com
 # in case the package will be used within simulation
 export HUSARION_ROS_BUILD_TYPE=simulation
 
-# to specify which simulation engine will be used
-# for gazebo classic
-export SIMULATION_ENGINE=gazebo-classic
-# for ignition gazebo
-export SIMULATION_ENGINE=ignition-gazebo
-
 rosdep update --rosdistro $ROS_DISTRO
 rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
 colcon build
@@ -36,9 +30,7 @@ To include the sensor, use the following code:
 <xacro:lidar.slamtec_rplidar_s1
   parent_link="cover_link"
   xyz="0.0 0.0 0.0"
-  rpy="0.0 0.0 0.0"
-  use_gpu="true"
-  simulation_engine="gazebo-classic" />
+  rpy="0.0 0.0 0.0" />
 ```
 
 A list of parameters can be found here:
@@ -46,12 +38,9 @@ A list of parameters can be found here:
 - `parent_link` [*string*, default: **None**] parent link to which sensor should be attached.
 - `xyz` [*float list*, default: **None**] 3 float values defining translation between base of a sensor and parent link. Values in **m**.
 - `rpy` [*float list*, default: **None**] 3 float values define rotation between parent link and base of a sensor. Values in **rad**.
-- `tf_prefix` [*string*, optional] tf prefix applied before all links created by sensor. If defined, applies `<tf_prefix>_<sensor_name>`. If not defined, leaves `<sensor_name>` intact. Applies also to `frame_id` parameter.
-- `topic` [*string*, default: **same as manufacturer's default**] name of topic at which simulated sensor will publish data.
-- `frame_id` [*string*, default: **same as manufacturer's default**] name of final tf to which sensor will be attached. Should match one from message published by sensor.
-- `use_gpu` [*bool*, default: **false**] enable GPU acceleration for sensor. Available only if sensor can be accelerated.
-- `simulation_engine` [*string*, default: **gazebo-classic**] selected for which simulation engine plugins should be loaded. Currently the only supported:
-  - **gazebo-classic** used to select [Gazebo Classic](https://classic.gazebosim.org/).
-  - **ignition-gazebo** used to select [Ignition Gazebo](https://gazebosim.org/home).
+- `namespace` [*string*, default: **None**] global namespace common to the entire robot.
+- `device_namespace` [*string*, default: **None**] local namespace allowing to distinguish two identical devices from each other.
+
+- `model` [*string*, default: **None**] model argument that appears when you want to load the appropriate model from a given manufacturer.
 
 Some sensors can define their specific parameters. Refer to their definition for more info.
diff --git a/package.xml b/package.xml
index aefb6fb..1fabc45 100644
--- a/package.xml
+++ b/package.xml
@@ -21,26 +21,11 @@
   <depend>urdf</depend>
   <depend>xacro</depend>
 
-  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == gazebo-classic)">
-    gazebo_plugins
-  </depend>
-
-  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == ignition-gazebo)">
-    ros_gz_sim
-  </depend>
-
-  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == ignition-gazebo)">
-    ros_gz_bridge
-  </depend>
-
-  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == ignition-gazebo)">
-    launch
-  </depend>
-
-  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == ignition-gazebo)">
-    nav2_common
-  </depend>
-
+  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ros_gz_sim</depend>
+  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ros_gz_bridge</depend>
+  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch</depend>
+  <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">nav2_common</depend>
+  
   <test_depend>ament_index_python</test_depend>
   <test_depend>ament_python_pytest</test_depend>
   <test_depend>python-yaml</test_depend>
diff --git a/test/component.urdf.xacro b/test/component.urdf.xacro
index 42d211c..abcd233 100644
--- a/test/component.urdf.xacro
+++ b/test/component.urdf.xacro
@@ -10,8 +10,6 @@
 
     <xacro:husarion_components.create_components
       components_config_path="${components_config_path_property}"
-      use_gpu="True"
-      simulation_engine="ignition-gazebo"
       namespace="None"
     />
   </xacro:unless>
diff --git a/urdf/intel_realsense_d435.urdf.xacro b/urdf/intel_realsense_d435.urdf.xacro
index 743fe5a..9ad4887 100644
--- a/urdf/intel_realsense_d435.urdf.xacro
+++ b/urdf/intel_realsense_d435.urdf.xacro
@@ -20,12 +20,10 @@
 <robot name="intel_realsense_d435" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="intel_realsense_d435"
     params="parent_link xyz rpy
-            tf_prefix:=None
-            name:=camera
             topic:=camera
             use_nominal_extrinsics:=false
             namespace:=None
-            simulation_engine:=ignition-gazebo">
+            device_namespace:=camera">
 
     <xacro:if value="${namespace == 'None'}">
       <xacro:property name="ns" value="" />
@@ -34,13 +32,6 @@
         <xacro:property name="ns" value="${namespace}/" />
     </xacro:unless>
 
-    <xacro:if value="${tf_prefix == 'None'}">
-      <xacro:property name="prefix" value="" />
-    </xacro:if>
-    <xacro:unless value="${tf_prefix == 'None'}">
-      <xacro:property name="prefix" value="${tf_prefix}_" />
-    </xacro:unless>
-
     <!-- The following values are approximate, and the camera node
       publishing TF values with actual calibrated camera extrinsic values -->
     <xacro:property name="d435_cam_depth_to_infra1_offset" value="0.0" />
@@ -70,22 +61,22 @@
     <xacro:property name="d435_cam_depth_pz" value="${d435_cam_height/2}" />
 
     <!-- camera body, with origin at bottom screw mount -->
-    <joint name="${parent_link.rstrip('_link')}_to_${prefix}${name}_bottom_screw_joint" type="fixed">
+    <joint name="${parent_link.rstrip('_link')}_to_${device_namespace}_bottom_screw_joint" type="fixed">
       <origin xyz="${xyz}" rpy="${rpy}" />
       <parent link="${parent_link}" />
-      <child link="${prefix}${name}_bottom_screw_frame" />
+      <child link="${device_namespace}_bottom_screw_frame" />
     </joint>
 
-    <link name="${prefix}${name}_bottom_screw_frame" />
+    <link name="${device_namespace}_bottom_screw_frame" />
 
-    <joint name="${prefix}${name}_bottom_screw_to_${prefix}${name}_joint" type="fixed">
+    <joint name="${device_namespace}_bottom_screw_to_${device_namespace}_joint" type="fixed">
       <origin xyz="${d435_mesh_x_offset} ${d435_cam_depth_py} ${d435_cam_depth_pz}"
         rpy="0.0 0.0 0.0" />
-      <parent link="${prefix}${name}_bottom_screw_frame" />
-      <child link="${prefix}${name}_link" />
+      <parent link="${device_namespace}_bottom_screw_frame" />
+      <child link="${device_namespace}_link" />
     </joint>
 
-    <link name="${prefix}${name}_link">
+    <link name="${device_namespace}_link">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
@@ -112,132 +103,130 @@
       published. e.g. running the device in simulation  -->
     <xacro:if value="${use_nominal_extrinsics}">
       <!-- camera depth joints and links -->
-      <joint name="${prefix}${name}_to_${prefix}${name}_depth_joint" type="fixed">
+      <joint name="${device_namespace}_to_${device_namespace}_depth_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${prefix}${name}_link" />
-        <child link="${prefix}${name}_depth_frame" />
+        <parent link="${device_namespace}_link" />
+        <child link="${device_namespace}_depth_frame" />
       </joint>
 
-      <link name="${prefix}${name}_depth_frame" />
+      <link name="${device_namespace}_depth_frame" />
 
-      <joint name="${prefix}${name}_depth_to_${prefix}${name}_depth_optical_joint" type="fixed">
+      <joint name="${device_namespace}_depth_to_${device_namespace}_depth_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${prefix}${name}_depth_frame" />
-        <child link="${prefix}${name}_depth_optical_frame" />
+        <parent link="${device_namespace}_depth_frame" />
+        <child link="${device_namespace}_depth_optical_frame" />
       </joint>
 
-      <link name="${prefix}${name}_depth_optical_frame" />
+      <link name="${device_namespace}_depth_optical_frame" />
 
       <!-- camera left IR joints and links -->
-      <joint name="${prefix}${name}_to_${prefix}${name}_infra1_joint" type="fixed">
+      <joint name="${device_namespace}_to_${device_namespace}_infra1_joint" type="fixed">
         <origin xyz="0.0 ${d435_cam_depth_to_infra1_offset} 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${prefix}${name}_link" />
-        <child link="${prefix}${name}_infra1_frame" />
+        <parent link="${device_namespace}_link" />
+        <child link="${device_namespace}_infra1_frame" />
       </joint>
 
-      <link name="${prefix}${name}_infra1_frame" />
+      <link name="${device_namespace}_infra1_frame" />
 
-      <joint name="${prefix}${name}_infra1_to_${prefix}${name}_infra1_optical_joint" type="fixed">
+      <joint name="${device_namespace}_infra1_to_${device_namespace}_infra1_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${prefix}${name}_infra1_frame" />
-        <child link="${prefix}${name}_infra1_optical_frame" />
+        <parent link="${device_namespace}_infra1_frame" />
+        <child link="${device_namespace}_infra1_optical_frame" />
       </joint>
 
-      <link name="${prefix}${name}_infra1_optical_frame" />
+      <link name="${device_namespace}_infra1_optical_frame" />
 
       <!-- camera right IR joints and links -->
-      <joint name="${prefix}${name}_to_${prefix}${name}_infra2_joint" type="fixed">
+      <joint name="${device_namespace}_to_${device_namespace}_infra2_joint" type="fixed">
         <origin xyz="0.0 ${d435_cam_depth_to_infra2_offset} 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${prefix}${name}_link" />
-        <child link="${prefix}${name}_infra2_frame" />
+        <parent link="${device_namespace}_link" />
+        <child link="${device_namespace}_infra2_frame" />
       </joint>
 
-      <link name="${prefix}${name}_infra2_frame" />
+      <link name="${device_namespace}_infra2_frame" />
 
-      <joint name="${prefix}${name}_infra2_to_${prefix}${name}_infra2_optical_joint" type="fixed">
+      <joint name="${device_namespace}_infra2_to_${device_namespace}_infra2_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${prefix}${name}_infra2_frame" />
-        <child link="${prefix}${name}_infra2_optical_frame" />
+        <parent link="${device_namespace}_infra2_frame" />
+        <child link="${device_namespace}_infra2_optical_frame" />
       </joint>
 
-      <link name="${prefix}${name}_infra2_optical_frame" />
+      <link name="${device_namespace}_infra2_optical_frame" />
 
       <!-- camera color joints and links -->
-      <joint name="${prefix}${name}_to_${prefix}${name}_color_joint" type="fixed">
+      <joint name="${device_namespace}_to_${device_namespace}_color_joint" type="fixed">
         <origin xyz="0.0 ${d435_cam_depth_to_color_offset} 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${prefix}${name}_link" />
-        <child link="${prefix}${name}_color_frame" />
+        <parent link="${device_namespace}_link" />
+        <child link="${device_namespace}_color_frame" />
       </joint>
 
-      <link name="${prefix}${name}_color_frame" />
+      <link name="${device_namespace}_color_frame" />
 
-      <joint name="${prefix}${name}_color_to_${prefix}${name}_color_optical_joint" type="fixed">
+      <joint name="${device_namespace}_color_to_${device_namespace}_color_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${prefix}${name}_color_frame" />
-        <child link="${prefix}${name}_color_optical_frame" />
+        <parent link="${device_namespace}_color_frame" />
+        <child link="${device_namespace}_color_optical_frame" />
       </joint>
 
-      <link name="${prefix}${name}_color_optical_frame" />
+      <link name="${device_namespace}_color_optical_frame" />
     </xacro:if>
 
-    <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
-      <!-- It is also possible to use single rgbd_camera sensor, but using separate rgb and depth camera
-        should be more accurate for D435 - different frames and fovs can be set -->
-      <gazebo reference="${prefix}${name}_link">
-        <!-- https://github.com/IntelRealSense/realsense-ros#published-topics -->
-        <sensor type="camera" name="${ns}{prefix}${name}_intel_realsense_d435_color">
-          <always_on>true</always_on>
-          <update_rate>30.0</update_rate>
-
-          <topic>${ns}${topic}/color/image_raw</topic>
-          <visualize>false</visualize>
-
-          <ignition_frame_id>${prefix}${name}_color_optical_frame</ignition_frame_id>
-          <horizontal_fov>${69.0/180.0*pi}</horizontal_fov>
+    <!-- It is also possible to use single rgbd_camera sensor, but using separate rgb and depth camera
+      should be more accurate for D435 - different frames and fovs can be set -->
+    <gazebo reference="${device_namespace}_link">
+      <!-- https://github.com/IntelRealSense/realsense-ros#published-topics -->
+      <sensor type="camera" name="${ns}{prefix}${device_namespace}_intel_realsense_d435_color">
+        <always_on>true</always_on>
+        <update_rate>30.0</update_rate>
+
+        <topic>${ns}${topic}/color/image_raw</topic>
+        <visualize>false</visualize>
+
+        <ignition_frame_id>${device_namespace}_color_optical_frame</ignition_frame_id>
+        <horizontal_fov>${69.0/180.0*pi}</horizontal_fov>
+        <image>
+          <width>1280</width>
+          <height>720</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300.0</far>
+        </clip>
+        <ros>
+          <namespace>${ns}${device_namespace}</namespace>
+        </ros>
+      </sensor>
+
+      <sensor type="depth_camera" name="${ns}${device_namespace}_intel_realsense_d435_depth">
+        <always_on>true</always_on>
+        <update_rate>30.0</update_rate>
+
+        <topic>${ns}${topic}/depth/image_rect_raw</topic>
+        <visualize>false</visualize>
+
+        <ignition_frame_id>${device_namespace}_depth_optical_frame</ignition_frame_id>
+        <camera>
+          <horizontal_fov>${87.0/180.0*pi}</horizontal_fov>
           <image>
             <width>1280</width>
             <height>720</height>
-            <format>R8G8B8</format>
+            <format>R_FLOAT32</format>
           </image>
           <clip>
-            <near>0.02</near>
-            <far>300.0</far>
+            <near>0.28</near>
+            <far>8.0</far>
           </clip>
-          <ros>
-            <namespace>${ns}</namespace>
-          </ros>
-        </sensor>
-
-        <sensor type="depth_camera" name="${ns}${prefix}${name}_intel_realsense_d435_depth">
-          <always_on>true</always_on>
-          <update_rate>30.0</update_rate>
-
-          <topic>${ns}${topic}/depth/image_rect_raw</topic>
-          <visualize>false</visualize>
-
-          <ignition_frame_id>${prefix}${name}_depth_optical_frame</ignition_frame_id>
-          <camera>
-            <horizontal_fov>${87.0/180.0*pi}</horizontal_fov>
-            <image>
-              <width>1280</width>
-              <height>720</height>
-              <format>R_FLOAT32</format>
-            </image>
-            <clip>
-              <near>0.28</near>
-              <far>8.0</far>
-            </clip>
-            <noise>
-              <type>gaussian</type>
-              <mean>0.0</mean>
-              <stddev>0.005</stddev>
-            </noise>
-          </camera>
-          <ros>
-            <namespace>${ns}</namespace>
-          </ros>
-        </sensor>
-      </gazebo>
-    </xacro:if>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.005</stddev>
+          </noise>
+        </camera>
+        <ros>
+          <namespace>${ns}${device_namespace}</namespace>
+        </ros>
+      </sensor>
+    </gazebo>
   </xacro:macro>
 </robot>
diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
index 605a7c4..2031595 100644
--- a/urdf/orbbec_astra.urdf.xacro
+++ b/urdf/orbbec_astra.urdf.xacro
@@ -2,8 +2,8 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="orbbec_astra"
                params="parent_link xyz rpy
-                       device_namespace:=camera
-                       namespace:=None">
+                       namespace:=None
+                       device_namespace:=camera">
 
     <xacro:if value="${namespace == 'None'}">
       <xacro:property name="ns" value="" />
@@ -143,7 +143,7 @@
           </noise>
         </camera>
         <ros>
-          <namespace>${ns}</namespace>
+          <namespace>${ns}${device_namespace}</namespace>
         </ros>
       </sensor>
     </gazebo>
diff --git a/urdf/ouster_os1_32.urdf.xacro b/urdf/ouster_os1_32.urdf.xacro
index 45056ce..ac11d7d 100644
--- a/urdf/ouster_os1_32.urdf.xacro
+++ b/urdf/ouster_os1_32.urdf.xacro
@@ -104,6 +104,10 @@
         <ignition_frame_id>${ns}${prefix}os_lidar</ignition_frame_id>
         <always_on>true</always_on>
 
+        <ros>
+          <namespace>${ns}${device_ns}</namespace>
+        </ros>
+
       </sensor>
     </gazebo>
   </xacro:macro>
diff --git a/urdf/slamtec_rplidar_s1.urdf.xacro b/urdf/slamtec_rplidar_s1.urdf.xacro
index ae53dd1..9d5401d 100644
--- a/urdf/slamtec_rplidar_s1.urdf.xacro
+++ b/urdf/slamtec_rplidar_s1.urdf.xacro
@@ -79,7 +79,7 @@
       <sensor type="gpu_lidar" name="${ns}${prefix}rplidar_s1_sensor">
 
         <topic>${ns}${device_ns}scan</topic>
-        <frame_id>{ns}${prefix}laser</frame_id>
+        <frame_id>${ns}${prefix}laser</frame_id>
         <ignition_frame_id>${ns}${prefix}laser</ignition_frame_id>
 
         <update_rate>10.0</update_rate>
diff --git a/urdf/stereolabs_zed.urdf.xacro b/urdf/stereolabs_zed.urdf.xacro
index 7958b36..7168733 100644
--- a/urdf/stereolabs_zed.urdf.xacro
+++ b/urdf/stereolabs_zed.urdf.xacro
@@ -23,8 +23,7 @@
     params="parent_link xyz rpy
     model:=zed
     namespace:=None
-    device_namespace:=None
-    ">
+    device_namespace:=zed">
 
     <xacro:if value="${namespace == 'None'}">
       <xacro:property name="ns" value="" />
@@ -33,13 +32,6 @@
       <xacro:property name="ns" value="${namespace}/" />
     </xacro:unless>
 
-    <xacro:if value="${device_namespace == 'None'}">
-      <xacro:property name="prefix" value="" />
-    </xacro:if>
-    <xacro:unless value="${device_namespace == 'None'}">
-      <xacro:property name="prefix" value="${device_namespace}_" />
-    </xacro:unless>
-
     <xacro:if value="${model == 'zed'}">
       <xacro:property name="baseline" value="0.12" />
       <xacro:property name="height" value="0.03" />
@@ -90,15 +82,15 @@
     </xacro:if>
 
     <!-- Camera mounting point (the threaded screw hole in the bottom) -->
-    <link name="${prefix}camera_camera_link" />
-    <joint name="${prefix}camera_base_joint" type="fixed">
+    <link name="${device_namespace}_link" />
+    <joint name="${device_namespace}_base_joint" type="fixed">
       <parent link="${parent_link}" />
-      <child link="${prefix}camera_camera_link" />
+      <child link="${device_namespace}_link" />
       <origin xyz="${xyz}" rpy="${rpy}" />
     </joint>
 
     <!-- Camera Center -->
-    <link name="${prefix}camera_camera_center">
+    <link name="${device_namespace}_center">
       <visual>
         <origin xyz="${screw_offset_x} 0 ${screw_offset_z}" rpy="0 0 0" />
         <geometry>
@@ -114,135 +106,133 @@
         </geometry>
       </collision>
     </link>
-    <joint name="${prefix}camera_camera_center_joint" type="fixed">
-      <parent link="${prefix}camera_link" />
-      <child link="${prefix}camera_camera_center" />
+    <joint name="${device_namespace}_center_joint" type="fixed">
+      <parent link="${device_namespace}_link" />
+      <child link="${device_namespace}_center" />
       <origin xyz="0 0 ${height/2}" rpy="0 ${bottom_slope} 0" />
     </joint>
 
     <!-- Artificially Created Camera Center -->
-    <link name="${prefix}camera_center_optical_frame" />
-    <joint name="${prefix}camera_center_joint" type="fixed">
-      <parent link="${prefix}camera_camera_center" />
-      <child link="${prefix}camera_center_optical_frame" />
+    <link name="${device_namespace}_center_optical_frame" />
+    <joint name="${device_namespace}_center_joint" type="fixed">
+      <parent link="${device_namespace}_center" />
+      <child link="${device_namespace}_center_optical_frame" />
       <origin xyz="0.01 0 0" rpy="0 0 0" />
     </joint>
 
     <!-- Left Camera -->
-    <link name="${prefix}camera_left_camera_frame" />
-    <joint name="${prefix}camera_left_camera_joint" type="fixed">
-      <parent link="${prefix}camera_camera_center" />
-      <child link="${prefix}camera_left_camera_frame" />
+    <link name="${device_namespace}_left_camera_frame" />
+    <joint name="${device_namespace}_left_camera_joint" type="fixed">
+      <parent link="${device_namespace}_center" />
+      <child link="${device_namespace}_left_camera_frame" />
       <origin xyz="${optical_offset_x} ${baseline/2} 0" rpy="0 0 0" />
     </joint>
 
-    <link name="${prefix}camera_left_camera_optical_frame" />
-    <joint name="${prefix}camera_left_camera_optical_joint" type="fixed">
+    <link name="${device_namespace}_left_camera_optical_frame" />
+    <joint name="${device_namespace}_left_camera_optical_joint" type="fixed">
       <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}" />
-      <parent link="${prefix}camera_left_camera_frame" />
-      <child link="${prefix}camera_left_camera_optical_frame" />
+      <parent link="${device_namespace}_left_camera_frame" />
+      <child link="${device_namespace}_left_camera_optical_frame" />
     </joint>
 
     <!-- Right Camera -->
-    <link name="${prefix}camera_right_camera_frame" />
-    <joint name="${prefix}camera_right_camera_joint" type="fixed">
-      <parent link="${prefix}camera_camera_center" />
-      <child link="${prefix}camera_right_camera_frame" />
+    <link name="${device_namespace}_right_camera_frame" />
+    <joint name="${device_namespace}_right_camera_joint" type="fixed">
+      <parent link="${device_namespace}_center" />
+      <child link="${device_namespace}_right_camera_frame" />
       <origin xyz="${optical_offset_x} -${baseline/2} 0" rpy="0 0 0" />
     </joint>
 
-    <link name="${prefix}camera_right_camera_optical_frame" />
-    <joint name="${prefix}camera_right_camera_optical_joint" type="fixed">
+    <link name="${device_namespace}_right_camera_optical_frame" />
+    <joint name="${device_namespace}_right_camera_optical_joint" type="fixed">
       <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}" />
-      <parent link="${prefix}camera_right_camera_frame" />
-      <child link="${prefix}camera_right_camera_optical_frame" />
+      <parent link="${device_namespace}_right_camera_frame" />
+      <child link="${device_namespace}_right_camera_optical_frame" />
     </joint>
 
 
     <!-- ZED2 Sensors -->
     <xacro:if value="${model == 'zed2'}">
-      <link name="${prefix}camera_mag_link" />
-      <joint name="${prefix}camera_mag_joint" type="fixed">
-        <parent link="${prefix}camera_camera_center" />
-        <child link="${prefix}camera_mag_link" />
+      <link name="${device_namespace}_mag_link" />
+      <joint name="${device_namespace}_mag_joint" type="fixed">
+        <parent link="${device_namespace}_center" />
+        <child link="${device_namespace}_mag_link" />
         <origin xyz="0 0 0" rpy="0 0 0" />
       </joint>
 
-      <link name="${prefix}camera_baro_link" />
-      <joint name="${prefix}camera_baro_joint" type="fixed">
-        <parent link="${prefix}camera_camera_center" />
-        <child link="${prefix}camera_baro_link" />
+      <link name="${device_namespace}_baro_link" />
+      <joint name="${device_namespace}_baro_joint" type="fixed">
+        <parent link="${device_namespace}_center" />
+        <child link="${device_namespace}_baro_link" />
         <origin xyz="0 0 0" rpy="0 0 0" />
       </joint>
 
-      <link name="${prefix}camera_temp_left_link" />
-      <joint name="${prefix}camera_temp_left_joint" type="fixed">
-        <parent link="${prefix}camera_left_camera_frame" />
-        <child link="${prefix}camera_temp_left_link" />
+      <link name="${device_namespace}_temp_left_link" />
+      <joint name="${device_namespace}_temp_left_joint" type="fixed">
+        <parent link="${device_namespace}_left_camera_frame" />
+        <child link="${device_namespace}_temp_left_link" />
         <origin xyz="0 0 0" rpy="0 0 0" />
       </joint>
     </xacro:if>
 
-    <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
-      <!-- It is also possible to use single rgbd_camera sensor, but using separate rgb and depth
-      camera
-        should be more accurate different frames and fovs can be set -->
-      <gazebo reference="${prefix}camera_center_optical_frame">
-        <sensor type="camera" name="${ns}${prefix}camera_stereolabs_zed_color">
-          <always_on>true</always_on>
-          <update_rate>30.0</update_rate>
-
-          <topic>${ns}${prefix}camera/zed_node/rgb/image_rect_color</topic>
-          <visualize>false</visualize>
-
-          <ignition_frame_id>${prefix}camera_center_optical_frame</ignition_frame_id>
-          <camera>
-            <horizontal_fov>${110.0/180.0*pi}</horizontal_fov>
-            <image>
-              <width>1920</width>
-              <height>1080</height>
-              <format>R8G8B8</format>
-            </image>
-            <clip>
-              <near>0.02</near>
-              <far>300.0</far>
-            </clip>
-          </camera>
-          <ros>
-            <namespace>${ns}</namespace>
-          </ros>
-        </sensor>
-
-        <sensor type="depth_camera" name="${ns}${prefix}camera_stereolabs_zed_depth">
-          <always_on>true</always_on>
-          <update_rate>30.0</update_rate>
-
-          <topic>${ns}${prefix}camera/zed_node/depth</topic>
-          <visualize>false</visualize>
-
-          <ignition_frame_id>${prefix}camera_center_optical_frame</ignition_frame_id>
-          <camera>
-            <horizontal_fov>${110.0/180.0*pi}</horizontal_fov>
-            <image>
-              <width>1920</width>
-              <height>1080</height>
-              <format>R_FLOAT32</format>
-            </image>
-            <clip>
-              <near>0.3</near>
-              <far>20.0</far>
-            </clip>
-            <noise type="gaussian">
-              <mean>0.0</mean>
-              <stddev>0.03</stddev>
-            </noise>
-          </camera>
-          <ros>
-            <namespace>${ns}</namespace>
-          </ros>
-        </sensor>
-      </gazebo>
-    </xacro:if>
+    <!-- It is also possible to use single rgbd_camera sensor, but using separate rgb and depth
+    camera
+      should be more accurate different frames and fovs can be set -->
+    <gazebo reference="${device_namespace}_center_optical_frame">
+      <sensor type="camera" name="${ns}${device_namespace}_stereolabs_zed_color">
+        <always_on>true</always_on>
+        <update_rate>30.0</update_rate>
+
+        <topic>${ns}${device_namespace}/zed_node/rgb/image_rect_color</topic>
+        <visualize>false</visualize>
+
+        <ignition_frame_id>${device_namespace}_center_optical_frame</ignition_frame_id>
+        <camera>
+          <horizontal_fov>${110.0/180.0*pi}</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>300.0</far>
+          </clip>
+        </camera>
+        <ros>
+          <namespace>${ns}</namespace>
+        </ros>
+      </sensor>
+
+      <sensor type="depth_camera" name="${ns}${device_namespace}_stereolabs_zed_depth">
+        <always_on>true</always_on>
+        <update_rate>30.0</update_rate>
+
+        <topic>${ns}${device_namespace}/zed_node/depth</topic>
+        <visualize>false</visualize>
+
+        <ignition_frame_id>${device_namespace}_center_optical_frame</ignition_frame_id>
+        <camera>
+          <horizontal_fov>${110.0/180.0*pi}</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1080</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.3</near>
+            <far>20.0</far>
+          </clip>
+          <noise type="gaussian">
+            <mean>0.0</mean>
+            <stddev>0.03</stddev>
+          </noise>
+        </camera>
+        <ros>
+          <namespace>${ns}${device_namespace}</namespace>
+        </ros>
+      </sensor>
+    </gazebo>
 
   </xacro:macro>
 </robot>