diff --git a/config/gz_antenna_remappings.yaml b/config/gz_teltonika_remappings.yaml
similarity index 100%
rename from config/gz_antenna_remappings.yaml
rename to config/gz_teltonika_remappings.yaml
diff --git a/launch/gz_components.launch.py b/launch/gz_components.launch.py
index 5b6268d..03e33db 100644
--- a/launch/gz_components.launch.py
+++ b/launch/gz_components.launch.py
@@ -64,7 +64,7 @@ def get_launch_descriptions_from_yaml_node(
actions = []
components_types_with_names = {
- "ANT02": "antenna",
+ "ANT02": "teltonika",
"LDR01": "slamtec_rplidar",
"LDR06": "slamtec_rplidar",
"LDR10": "ouster_os",
diff --git a/launch/gz_antenna.launch.py b/launch/gz_teltonika.launch.py
similarity index 97%
rename from launch/gz_antenna.launch.py
rename to launch/gz_teltonika.launch.py
index 903c1ea..7e9344d 100644
--- a/launch/gz_antenna.launch.py
+++ b/launch/gz_teltonika.launch.py
@@ -26,7 +26,7 @@
def generate_launch_description():
ros_components_description = get_package_share_directory("ros_components_description")
gz_bridge_config_path = os.path.join(
- ros_components_description, "config", "gz_antenna_remappings.yaml"
+ ros_components_description, "config", "gz_teltonika_remappings.yaml"
)
robot_namespace = LaunchConfiguration("robot_namespace")
diff --git a/urdf/components.urdf.xacro b/urdf/components.urdf.xacro
index 84ae7c2..56773ba 100644
--- a/urdf/components.urdf.xacro
+++ b/urdf/components.urdf.xacro
@@ -34,13 +34,13 @@
-
+
+ ns="teltonika" />
-
+ device_namespace:=gps">
@@ -14,28 +13,14 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
-
+
@@ -61,22 +46,22 @@
-
-
+
+
-
+
-
+
1
1
${ns}${device_namespace}/fix
- ${ns}${prefix}gps
+ ${ns}${device_namespace}