From 02be123d85c81309824c02c7261bf1f4dbda034f Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Mon, 17 Jun 2024 11:12:46 +0200
Subject: [PATCH] Update name

---
 ...ings.yaml => gz_teltonika_remappings.yaml} |  0
 launch/gz_components.launch.py                |  2 +-
 ...tenna.launch.py => gz_teltonika.launch.py} |  2 +-
 urdf/components.urdf.xacro                    |  6 ++--
 urdf/teltonika_003R-00253.urdf.xacro          | 35 ++++++-------------
 5 files changed, 15 insertions(+), 30 deletions(-)
 rename config/{gz_antenna_remappings.yaml => gz_teltonika_remappings.yaml} (100%)
 rename launch/{gz_antenna.launch.py => gz_teltonika.launch.py} (97%)

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 @@
       <xacro:unless value="${robot_namespace == ''}">
         <xacro:property name="ns" value="${robot_namespace}" scope="parent" />
       </xacro:unless>
-      
+
       <xacro:if value="${type == 'ANT02'}">
         <xacro:include
           filename="$(find ros_components_description)/urdf/teltonika_003R-00253.urdf.xacro"
-          ns="antenna" />
+          ns="teltonika" />
 
-        <xacro:antenna.teltonika_003R-00253
+        <xacro:teltonika.teltonika_003R-00253
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
diff --git a/urdf/teltonika_003R-00253.urdf.xacro b/urdf/teltonika_003R-00253.urdf.xacro
index e04a5d8..8895e9d 100644
--- a/urdf/teltonika_003R-00253.urdf.xacro
+++ b/urdf/teltonika_003R-00253.urdf.xacro
@@ -4,8 +4,7 @@
     name="teltonika_003R-00253"
     params="parent_link xyz rpy
             namespace:=None
-            device_namespace:=None
-            frame_id:=gps">
+            device_namespace:=gps">
 
     <xacro:if value="${namespace == 'None'}">
       <xacro:property name="ns" value="" />
@@ -14,28 +13,14 @@
       <xacro:property name="ns" value="${namespace}/" />
     </xacro:unless>
 
-    <xacro:if value="${device_namespace == 'None'}">
-      <xacro:property name="device_ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${device_namespace == 'None'}">
-      <xacro:property name="device_ns" value="${device_namespace}/" />
-    </xacro:unless>
-
-    <xacro:if value="${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>
-
-    <joint name="${parent_link.rstrip('_link')}_to_${prefix}antenna_joint"
+    <joint name="${parent_link.rstrip('_link')}_to_antenna_joint"
       type="fixed">
       <origin xyz="${xyz}" rpy="${rpy}" />
       <parent link="${parent_link}" />
-      <child link="${prefix}antenna_link" />
+      <child link="antenna_link" />
     </joint>
 
-    <link name="${prefix}antenna_link">
+    <link name="antenna_link">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
@@ -61,22 +46,22 @@
     </link>
 
     <joint
-      name="${prefix}antenna_to_${prefix}${frame_id.rstrip('_link')}_joint"
+      name="antenna_to_${device_namespace.rstrip('_link')}_joint"
       type="fixed">
       <origin xyz="0.045 0.0 0.0058" rpy="0.0 0.0 0.0" />
-      <parent link="${prefix}antenna_link" />
-      <child link="${prefix}${frame_id}" />
+      <parent link="antenna_link" />
+      <child link="${device_namespace}" />
     </joint>
 
-    <link name="${prefix}${frame_id}" />
+    <link name="${device_namespace}" />
 
-    <gazebo reference="${prefix}${frame_id}">
+    <gazebo reference="${device_namespace}">
       <sensor name="navsat" type="navsat">
         <plugin filename="ignition-gazebo-navsat-system" name="ignition::gazebo::systems::NavSat" />
         <always_on>1</always_on>
         <update_rate>1</update_rate>
         <topic>${ns}${device_namespace}/fix</topic>
-        <ignition_frame_id>${ns}${prefix}gps</ignition_frame_id>
+        <ignition_frame_id>${ns}${device_namespace}</ignition_frame_id>
       </sensor>
     </gazebo>
   </xacro:macro>