From 59f8172c3b32d107f69269450de51ac4747b9a4b Mon Sep 17 00:00:00 2001
From: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com>
Date: Fri, 14 Jun 2024 09:04:28 +0200
Subject: [PATCH] Rplidar-merge (#52)

* Rplidar-merge

* Fix urdf
---
 README.md                            |   4 +-
 test/test_components_xacro.py        |   4 +-
 urdf/components.urdf.xacro           |  26 +--
 urdf/intel_realsense_d435.urdf.xacro |   6 +-
 urdf/slamtec_rplidar.urdf.xacro      | 274 +++++++++++++++++++++++++++
 urdf/slamtec_rplidar_a2.urdf.xacro   | 129 -------------
 urdf/slamtec_rplidar_a3.urdf.xacro   | 106 -----------
 urdf/slamtec_rplidar_s1.urdf.xacro   | 112 -----------
 urdf/slamtec_rplidar_s2.urdf.xacro   | 104 ----------
 urdf/slamtec_rplidar_s3.urdf.xacro   | 104 ----------
 10 files changed, 290 insertions(+), 579 deletions(-)
 create mode 100644 urdf/slamtec_rplidar.urdf.xacro
 delete mode 100644 urdf/slamtec_rplidar_a2.urdf.xacro
 delete mode 100644 urdf/slamtec_rplidar_a3.urdf.xacro
 delete mode 100644 urdf/slamtec_rplidar_s1.urdf.xacro
 delete mode 100644 urdf/slamtec_rplidar_s2.urdf.xacro
 delete mode 100644 urdf/slamtec_rplidar_s3.urdf.xacro

diff --git a/README.md b/README.md
index de8404d..f0871e9 100644
--- a/README.md
+++ b/README.md
@@ -24,10 +24,10 @@ To include the sensor, use the following code:
 
 ```xml
 <!-- include file with definition of xacro macro of sensor -->
-<xacro:include filename="$(find ros_components_description)/urdf/slamtec_rplidar_s1.urdf.xacro" ns="lidar" />
+<xacro:include filename="$(find ros_components_description)/urdf/slamtec_rplidar.urdf.xacro" ns="lidar" />
 
 <!-- evaluate the macro and place the sensor on robot -->
-<xacro:lidar.slamtec_rplidar_s1
+<xacro:lidar.slamtec_rplidar
   parent_link="cover_link"
   xyz="0.0 0.0 0.0"
   rpy="0.0 0.0 0.0" />
diff --git a/test/test_components_xacro.py b/test/test_components_xacro.py
index 8df4c01..9297e26 100644
--- a/test/test_components_xacro.py
+++ b/test/test_components_xacro.py
@@ -26,8 +26,8 @@
 
 # Type: [model_link, link_name, sensor_link_name, sensor_name]
 components_types_with_names = {
-    "LDR01": ["slamtec_rplidar_s1", "laser", "laser", "slamtec_rplidar_s1_sensor"],
-    "LDR06": ["slamtec_rplidar_s3", "laser", "laser", "slamtec_rplidar_s3_sensor"],
+    "LDR01": ["slamtec_rplidar_s1", "laser", "laser", "slamtec_rplidar_sensor"],
+    "LDR06": ["slamtec_rplidar_s3", "laser", "laser", "slamtec_rplidar_sensor"],
     "LDR10": ["ouster_os0_32", "os_lidar", "os_lidar", "ouster_os0_32_sensor"],
     "LDR11": ["ouster_os0_64", "os_lidar", "os_lidar", "ouster_os0_64_sensor"],
     "LDR12": ["ouster_os0_128", "os_lidar", "os_lidar", "ouster_os0_128_sensor"],
diff --git a/urdf/components.urdf.xacro b/urdf/components.urdf.xacro
index 203e9b1..e426c27 100644
--- a/urdf/components.urdf.xacro
+++ b/urdf/components.urdf.xacro
@@ -71,33 +71,25 @@
         />
       </xacro:if>
 
-      <xacro:if value="${type == 'LDR01'}">
-        <xacro:include
-          filename="$(find ros_components_description)/urdf/slamtec_rplidar_s1.urdf.xacro"
-          ns="lidar"
-        />
-
-        <xacro:lidar.slamtec_rplidar_s1
-          parent_link="${parent_link}"
-          xyz="${xyz}"
-          rpy="${rpy}"
-          namespace="${ns}"
-          device_namespace="${device_namespace}"
-        />
-      </xacro:if>
+      <xacro:property name="rplidar_models_dict"
+        value="${dict ([
+        ('LDR01', 's1'),
+        ('LDR06', 's3'),
+      ])}" />
 
-      <xacro:if value="${type == 'LDR06'}">
+      <xacro:if value="${type in rplidar_models_dict}">
         <xacro:include
-          filename="$(find ros_components_description)/urdf/slamtec_rplidar_s3.urdf.xacro"
+          filename="$(find ros_components_description)/urdf/slamtec_rplidar.urdf.xacro"
           ns="lidar"
         />
 
-        <xacro:lidar.slamtec_rplidar_s3
+        <xacro:lidar.slamtec_rplidar
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
           namespace="${ns}"
           device_namespace="${device_namespace}"
+          model="${rplidar_models_dict[type]}"
         />
       </xacro:if>
 
diff --git a/urdf/intel_realsense_d435.urdf.xacro b/urdf/intel_realsense_d435.urdf.xacro
index a59ca34..0033c7a 100644
--- a/urdf/intel_realsense_d435.urdf.xacro
+++ b/urdf/intel_realsense_d435.urdf.xacro
@@ -37,9 +37,9 @@
     <xacro:property name="d435_cam_depth_to_infra2_offset" value="-0.050" />
     <xacro:property name="d435_cam_depth_to_color_offset" value="0.015" />
 
-    <!-- The following values model the aluminum peripherial case for the
+    <!-- The following values model the aluminum peripheral case for the
       D435 camera, with the camera joint represented by the actual
-      peripherial camera tripod mount -->
+      peripheral camera tripod mount -->
     <xacro:property name="d435_cam_width" value="0.090" />
     <xacro:property name="d435_cam_height" value="0.025" />
     <xacro:property name="d435_cam_depth" value="0.02505" />
@@ -52,7 +52,7 @@
     <xacro:property name="d435_mesh_x_offset"
       value="${d435_cam_mount_from_center_offset-d435_glass_to_front-d435_zero_depth_to_glass}" />
 
-    <!-- The following offset is relative the the physical D435 camera peripherial
+    <!-- The following offset is relative the the physical D435 camera peripheral
       camera tripod mount -->
     <xacro:property name="d435_cam_depth_px" value="${d435_cam_mount_from_center_offset}" />
     <xacro:property name="d435_collision_offset_x" value="0.00824" />
diff --git a/urdf/slamtec_rplidar.urdf.xacro b/urdf/slamtec_rplidar.urdf.xacro
new file mode 100644
index 0000000..7b5d831
--- /dev/null
+++ b/urdf/slamtec_rplidar.urdf.xacro
@@ -0,0 +1,274 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="slamtec_rplidar"
+               params="parent_link xyz rpy
+                       namespace:=None
+                       device_namespace:=None
+                       model:=s3">
+
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${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>
+
+    <xacro:if value="${model == 's3'}">
+      <!-- Spec: https://www.slamtec.ai/wp-content/uploads/2023/11/SLAMTEC_rplidar_datasheet_S3_v1.0_en.pdf -->
+      <xacro:property name="samples" value="3000" />
+      <xacro:property name="dist_min" value="0.05" />
+      <xacro:property name="dist_max" value="40.0" />
+      <xacro:property name="dist_res" value="0.01" />
+      <xacro:property name="std_dev" value="0.03" />
+      <xacro:property name="mesh" value="slamtec_rplidar_s3.dae" />
+      <xacro:property name="collision">
+        <origin xyz="0.0 0.0 ${0.0413/2.0}" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <box size="0.0556 0.0556 0.0413" />
+        </geometry>
+      </xacro:property>
+      <xacro:property name="inertial">
+        <origin xyz="0.0 0.0 ${0.0413/2.0 + 0.0018237}" rpy="0.0 0.0 0.0" />
+        <mass value="0.115033" />
+        <inertia ixx="0.00004115765" ixy="0.0"            ixz="0.0"
+                                     iyy="0.00004115765"  iyz="0.0"
+                                                          izz="0.00004956023" />
+      </xacro:property>
+      <xacro:property name="joint">
+        <origin xyz="0.0 0.0 0.0305" rpy="0.0 0.0 ${pi}" />
+      </xacro:property>
+    </xacro:if>
+
+    <xacro:if value="${model == 's2'}">
+      <!-- Spec: https://www.slamtec.ai/wp-content/uploads/2023/11/SLAMTEC_rplidar_datasheet_S2M1_v1.4_en.pdf -->
+      <xacro:property name="samples" value="3000" />
+      <xacro:property name="dist_min" value="0.05" />
+      <xacro:property name="dist_max" value="30.0" />
+      <xacro:property name="dist_res" value="0.013" />
+      <xacro:property name="std_dev" value="0.03" />
+      <xacro:property name="mesh" value="slamtec_rplidar_s2.dae" />
+      <xacro:property name="collision">
+        <origin xyz="0.0 0.0 ${0.038857/2.0}" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <box size="0.077 0.076856 0.038857" />
+        </geometry>
+      </xacro:property>
+      <xacro:property name="inertial">
+        <origin xyz="0.0 -0.000021 ${0.038857/2.0 + 0.0017953}" rpy="0.0 0.0 0.0" />
+        <mass value="0.104949" />
+        <inertia ixx="0.00005071491" ixy="0.0"            ixz="0.0"
+                                     iyy="0.00005064080"  iyz="0.0"
+                                                          izz="0.000075682018" />
+      </xacro:property>
+      <xacro:property name="joint">
+        <origin xyz="0.0 0.0 0.0285" rpy="0.0 0.0 ${pi}" />
+      </xacro:property>
+    </xacro:if>
+
+    <xacro:if value="${model == 's1'}">
+      <!-- Spec: https://www.slamtec.com/en/Lidar/S1Spec -->
+      <xacro:property name="samples" value="920" />
+      <xacro:property name="dist_min" value="0.04" />
+      <xacro:property name="dist_max" value="40.0" />
+      <xacro:property name="dist_res" value="0.03" />
+      <xacro:property name="std_dev" value="0.05" />
+      <xacro:property name="mesh" value="slamtec_rplidar_s1.dae" />
+      <xacro:property name="collision">
+        <origin xyz="0.0 0.0 ${0.0195/2.0}" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <box size="0.0555 0.0555 0.0195" />
+        </geometry>
+      </xacro:property>
+      <xacro:property name="inertial">
+        <origin xyz="0.0 0.0 ${0.0555/2.0}" rpy="0.0 0.0 0.0" />
+        <mass value="0.105" />
+        <inertia ixx="0.000049654" ixy="0.0"         ixz="0.0"
+                                   iyy="0.000049654" iyz="0.0"
+                                                     izz="0.000053884" />
+      </xacro:property>
+      <xacro:property name="joint">
+        <origin xyz="0.0 0.0 0.04" rpy="0.0 0.0 ${pi}" />
+      </xacro:property>
+    </xacro:if>
+
+    <xacro:if value="${model == 'a3'}">
+      <!-- Spec: https://www.slamtec.ai/wp-content/uploads/2023/11/LD310_SLAMTEC_rplidar_datasheet_A3M1_v1.9_en.pdf -->
+      <xacro:property name="samples" value="1600" />
+      <xacro:property name="dist_min" value="0.2" />
+      <xacro:property name="dist_max" value="25.0" />
+      <xacro:property name="dist_res" value="0.03" />
+      <xacro:property name="std_dev" value="0.05" />
+      <xacro:property name="mesh" value="slamtec_rplidar_a3.dae" />
+      <xacro:property name="collision">
+        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <cylinder radius="${0.076/2.0}" length="0.041" />
+        </geometry>
+      </xacro:property>
+      <xacro:property name="inertial">
+        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
+        <mass value="0.190" />
+        <inertia ixx="0.000095206" ixy="0.0"         ixz="0.0"
+                                   iyy="0.000095206" iyz="0.0"
+                                                     izz="0.00013718" />
+      </xacro:property>
+      <xacro:property name="joint">
+        <origin xyz="0.0 0.0 0.031" rpy="0.0 0.0 ${pi}" />
+      </xacro:property>
+    </xacro:if>
+
+    <xacro:if value="${model == 'a2m12'}">
+      <!-- Spec: https://www.slamtec.ai/wp-content/uploads/2023/11/LD310_SLAMTEC_rplidar_datasheet_A2M12_v1.0_en.pdf -->
+      <xacro:property name="samples" value="1600" />
+      <xacro:property name="dist_min" value="0.2" />
+      <xacro:property name="dist_max" value="12.0" />
+      <xacro:property name="dist_res" value="0.03" />
+      <xacro:property name="std_dev" value="0.05" />
+      <xacro:property name="mesh" value="slamtec_rplidar_ax.dae" />
+      <xacro:property name="collision">
+        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <cylinder radius="${0.076/2.0}" length="0.041" />
+        </geometry>
+      </xacro:property>
+      <xacro:property name="inertial">
+        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
+        <mass value="0.190" />
+        <inertia ixx="0.000095206" ixy="0.0"         ixz="0.0"
+                                   iyy="0.000095206" iyz="0.0"
+                                                     izz="0.00013718" />
+      </xacro:property>
+      <xacro:property name="joint">
+        <origin xyz="0.0 0.0 0.031" rpy="0.0 0.0 ${pi}" />
+      </xacro:property>
+    </xacro:if>
+
+    <xacro:if value="${model == 'a2m8'}">
+      <xacro:property name="samples" value="800" />
+      <xacro:property name="dist_min" value="0.2" />
+      <xacro:property name="dist_max" value="10.0" />
+      <xacro:property name="dist_res" value="0.03" />
+      <xacro:property name="std_dev" value="0.05" />
+      <xacro:property name="mesh" value="slamtec_rplidar_a2m8.dae" />
+      <xacro:property name="collision">
+        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <cylinder radius="${0.076/2.0}" length="0.041" />
+        </geometry>
+      </xacro:property>
+      <xacro:property name="inertial">
+        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
+        <mass value="0.190" />
+        <inertia ixx="0.000095206" ixy="0.0"         ixz="0.0"
+                                   iyy="0.000095206" iyz="0.0"
+                                                     izz="0.00013718" />
+      </xacro:property>
+      <xacro:property name="joint">
+        <origin xyz="0.0 0.0 0.031" rpy="0.0 0.0 ${pi}" />
+      </xacro:property>
+    </xacro:if>
+
+    <xacro:if value="${model == 'a2m7'}">
+      <xacro:property name="samples" value="1600" />
+      <xacro:property name="dist_min" value="0.2" />
+      <xacro:property name="dist_max" value="10.0" />
+      <xacro:property name="dist_res" value="0.03" />
+      <xacro:property name="std_dev" value="0.05" />
+      <xacro:property name="mesh" value="slamtec_rplidar_ax.dae" />
+      <xacro:property name="collision">
+        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <cylinder radius="${0.076/2.0}" length="0.041" />
+        </geometry>
+      </xacro:property>
+      <xacro:property name="inertial">
+        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
+        <mass value="0.190" />
+        <inertia ixx="0.000095206" ixy="0.0"         ixz="0.0"
+                                   iyy="0.000095206" iyz="0.0"
+                                                     izz="0.00013718" />
+      </xacro:property>
+      <xacro:property name="joint">
+        <origin xyz="0.0 0.0 0.031" rpy="0.0 0.0 ${pi}" />
+      </xacro:property>
+    </xacro:if>
+
+    <joint name="${parent_link.rstrip('_link')}_to_${prefix}slamtec_rplidar_joint" type="fixed">
+      <origin xyz="${xyz}" rpy="${rpy}" />
+      <parent link="${parent_link}" />
+      <child link="${prefix}slamtec_rplidar_link" />
+    </joint>
+
+    <link name="${prefix}slamtec_rplidar_link">
+      <visual>
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <mesh filename="package://ros_components_description/meshes/${mesh}" />
+        </geometry>
+      </visual>
+
+      <collision>
+        <xacro:insert_block name="collision" />
+      </collision>
+
+      <inertial>
+        <xacro:insert_block name="inertial" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}slamtec_rplidar_to_${prefix}laser_joint" type="fixed">
+      <xacro:insert_block name="joint" />
+      <parent link="${prefix}slamtec_rplidar_link" />
+      <child link="${prefix}laser" />
+    </joint>
+
+    <link name="${prefix}laser" />
+
+    <gazebo reference="${prefix}laser">
+      <sensor type="gpu_lidar" name="${ns}${prefix}slamtec_rplidar_sensor">
+        <always_on>false</always_on>
+        <update_rate>10</update_rate>
+        <visualize>false</visualize>
+
+        <topic>${ns}${device_ns}scan</topic>
+        <ignition_frame_id>${ns}${prefix}laser</ignition_frame_id>
+
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>${samples}</samples>
+              <resolution>1</resolution>
+              <min_angle>-${pi}</min_angle>
+              <max_angle>${pi}</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>${dist_min}</min>
+            <max>${dist_max}</max>
+            <resolution>${dist_res}</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>${std_dev}</stddev>
+          </noise>
+        </ray>
+      </sensor>
+    </gazebo>
+
+  </xacro:macro>
+</robot>
diff --git a/urdf/slamtec_rplidar_a2.urdf.xacro b/urdf/slamtec_rplidar_a2.urdf.xacro
deleted file mode 100644
index be7846e..0000000
--- a/urdf/slamtec_rplidar_a2.urdf.xacro
+++ /dev/null
@@ -1,129 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <!-- Valid values for model parameter: -->
-  <!--   - A2M7  -->
-  <!--   - A2M8  -->
-  <!--   - A2M12 -->
-  <!-- Those values correspond to model code-names from SLAMTEC -->
-  <xacro:macro name="slamtec_rplidar_a2"
-               params="parent_link xyz rpy
-                       model:=A2M12
-                       namespace:=None
-                       device_namespace:=None
-                       ">
-
-    <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${namespace == 'None'}">
-      <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="${device_namespace}_" />
-    </xacro:unless>
-
-    <!--values of max distance are based on tradeoff values between best and worst case scenarios -->
-    <!-- slamtec_rplidar_ax.dae is used as a shared mesh for A2 and A3 rplidars -->
-    <xacro:if value="${model == 'A2M7'}">
-      <xacro:property name="samples" value="1600" />
-      <xacro:property name="max_distance" value="14.0" />
-      <xacro:property name="mesh" value="slamtec_rplidar_ax.dae" />
-    </xacro:if>
-
-    <xacro:if value="${model == 'A2M8'}">
-      <xacro:property name="samples" value="800" />
-      <xacro:property name="max_distance" value="10.0" />
-      <xacro:property name="mesh" value="slamtec_rplidar_a2m8.dae" />
-    </xacro:if>
-
-    <xacro:if value="${model == 'A2M12'}">
-      <xacro:property name="samples" value="1600" />
-      <xacro:property name="max_distance" value="10.0" />
-      <xacro:property name="mesh" value="slamtec_rplidar_ax.dae" />
-    </xacro:if>
-
-    <joint name="${parent_link.rstrip('_link')}_to_${prefix}slamtec_rplidar_a2_joint" type="fixed">
-      <origin xyz="${xyz}" rpy="${rpy}" />
-      <parent link="${parent_link}" />
-      <child link="${prefix}slamtec_rplidar_a2_link" />
-    </joint>
-
-    <link name="${prefix}slamtec_rplidar_a2_link">
-      <visual>
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-        <geometry>
-          <mesh filename="package://ros_components_description/meshes/${mesh}" />
-        </geometry>
-      </visual>
-
-      <collision>
-        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
-        <geometry>
-          <cylinder radius="${0.076/2.0}" length="0.041" />
-        </geometry>
-      </collision>
-
-      <inertial>
-        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
-        <mass value="0.190" />
-        <inertia ixx="0.000095206" ixy="0.0"         ixz="0.0"
-                                   iyy="0.000095206" iyz="0.0"
-                                                     izz="0.00013718" />
-      </inertial>
-    </link>
-
-    <joint name="${prefix}slamtec_rplidar_a2_to_${prefix}laser_joint" type="fixed">
-      <origin xyz="0.0 0.0 0.031" rpy="0.0 0.0 ${pi}" />
-      <parent link="${prefix}slamtec_rplidar_a2_link" />
-      <child link="${prefix}laser" />
-    </joint>
-
-    <link name="${prefix}laser" />
-
-    <gazebo reference="${prefix}laser">
-      <!-- gpu_lidar has to be set, CPU lidar doesn't work in ignition -
-      https://github.com/gazebosim/gz-sensors/issues/26 -->
-      <sensor type="gpu_lidar" name="${ns}${prefix}slamtec_rplidar_a2_sensor">
-
-        <topic>${ns}${device_ns}scan</topic>
-        <frame_id>${ns}${prefix}laser</frame_id>
-        <ignition_frame_id>${prefix}laser</ignition_frame_id>
-
-        <update_rate>10.0</update_rate>
-        <ray>
-          <scan>
-            <horizontal>
-              <samples>${samples}</samples>
-              <resolution>1</resolution>
-              <min_angle>-${pi}</min_angle>
-              <max_angle>${pi}</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.2</min>
-            <max>${max_distance}</max>
-            <resolution>0.05</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.001</stddev>
-          </noise>
-        </ray>
-        <always_on>true</always_on>
-        <visualize>false</visualize>
-      </sensor>
-    </gazebo>
-  </xacro:macro>
-</robot>
diff --git a/urdf/slamtec_rplidar_a3.urdf.xacro b/urdf/slamtec_rplidar_a3.urdf.xacro
deleted file mode 100644
index 4c4feb7..0000000
--- a/urdf/slamtec_rplidar_a3.urdf.xacro
+++ /dev/null
@@ -1,106 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="slamtec_rplidar_a3"
-               params="parent_link xyz rpy
-                       namespace:=None
-                       device_namespace:=None">
-
-
-    <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${namespace == 'None'}">
-      <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_${prefix}slamtec_rplidar_a3_joint" type="fixed">
-      <origin xyz="${xyz}" rpy="${rpy}" />
-      <parent link="${parent_link}" />
-      <child link="${prefix}slamtec_rplidar_a3_link" />
-    </joint>
-
-    <link name="${prefix}slamtec_rplidar_a3_link">
-      <visual>
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-        <geometry>
-          <!-- slamtec_rplidar_ax.dae is used as a shared mesh for A2 and A3 rplidars -->
-          <mesh filename="package://ros_components_description/meshes/slamtec_rplidar_ax.dae" />
-        </geometry>
-      </visual>
-
-      <collision>
-        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
-        <geometry>
-          <cylinder radius="${0.076/2.0}" length="0.041" />
-        </geometry>
-      </collision>
-
-      <inertial>
-        <origin xyz="0.0 0.0 ${0.041/2.0}" rpy="0.0 0.0 0.0" />
-        <mass value="0.190" />
-        <inertia ixx="0.000095206" ixy="0.0"         ixz="0.0"
-                                   iyy="0.000095206" iyz="0.0"
-                                                     izz="0.00013718" />
-      </inertial>
-    </link>
-
-    <joint name="${prefix}slamtec_rplidar_a3_to_${prefix}laser_joint" type="fixed">
-      <origin xyz="0.0 0.0 0.031" rpy="0.0 0.0 ${pi}" />
-      <parent link="${prefix}slamtec_rplidar_a3_link" />
-      <child link="${prefix}laser" />
-    </joint>
-
-    <link name="${prefix}laser" />
-
-    <gazebo reference="${prefix}laser">
-      <!-- gpu_lidar has to be set, CPU lidar doesn't work in ignition -
-      https://github.com/gazebosim/gz-sensors/issues/26 -->
-      <sensor type="gpu_lidar" name="${ns}${prefix}slamtec_rplidar_a3_sensor">
-
-        <topic>${ns}${device_ns}scan</topic>
-        <frame_id>${ns}${prefix}laser</frame_id>
-        <ignition_frame_id>${prefix}laser</ignition_frame_id>
-
-        <update_rate>10.0</update_rate>
-        <ray>
-          <scan>
-            <horizontal>
-              <samples>1600</samples>
-              <resolution>1</resolution>
-              <min_angle>-${pi}</min_angle>
-              <max_angle>${pi}</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.2</min>
-            <!-- as an tradeoff between white and black object range -->
-            <max>16.0</max>
-            <resolution>0.05</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.001</stddev>
-          </noise>
-        </ray>
-        <always_on>true</always_on>
-        <visualize>false</visualize>
-      </sensor>
-    </gazebo>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf/slamtec_rplidar_s1.urdf.xacro b/urdf/slamtec_rplidar_s1.urdf.xacro
deleted file mode 100644
index 28ee959..0000000
--- a/urdf/slamtec_rplidar_s1.urdf.xacro
+++ /dev/null
@@ -1,112 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="slamtec_rplidar_s1"
-               params="parent_link xyz rpy
-                       namespace:=None
-                       device_namespace:=None ">
-
-    <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${namespace == 'None'}">
-      <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_${prefix}slamtec_rplidar_s1_joint" type="fixed">
-      <origin xyz="${xyz}" rpy="${rpy}" />
-      <parent link="${parent_link}" />
-      <child link="${prefix}slamtec_rplidar_s1_link" />
-    </joint>
-
-    <link name="${prefix}slamtec_rplidar_s1_link">
-      <visual>
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-        <geometry>
-          <mesh filename="package://ros_components_description/meshes/slamtec_rplidar_s1.dae" />
-        </geometry>
-      </visual>
-
-      <!-- spinning head collision -->
-      <collision>
-        <origin xyz="0.0 0.0 ${0.051/2.0}" rpy="0.0 0.0 0.0" />
-        <geometry>
-          <cylinder radius="${0.0555/2.0}" length="0.051" />
-        </geometry>
-      </collision>
-
-      <!-- base collision -->
-      <collision>
-        <origin xyz="0.0 0.0 ${0.0195/2.0}" rpy="0.0 0.0 0.0" />
-        <geometry>
-          <box size="0.0555 0.0555 0.0195" />
-        </geometry>
-      </collision>
-
-      <inertial>
-        <origin xyz="0.0 0.0 ${0.0555/2.0}" rpy="0.0 0.0 0.0" />
-        <mass value="0.105" />
-        <inertia ixx="0.000049654" ixy="0.0"         ixz="0.0"
-                                   iyy="0.000049654" iyz="0.0"
-                                                     izz="0.000053884" />
-      </inertial>
-    </link>
-
-    <joint name="${prefix}slamtec_rplidar_s1_to_${prefix}laser_joint" type="fixed">
-      <origin xyz="0.0 0.0 0.04" rpy="0.0 0.0 ${pi}" />
-      <parent link="${prefix}slamtec_rplidar_s1_link" />
-      <child link="${prefix}laser" />
-    </joint>
-
-    <link name="${prefix}laser" />
-
-    <gazebo reference="${prefix}laser">
-      <!-- gpu_lidar has to be set, CPU lidar doesn't work in ignition -
-      https://github.com/gazebosim/gz-sensors/issues/26 -->
-      <sensor type="gpu_lidar" name="${ns}${prefix}slamtec_rplidar_s1_sensor">
-
-        <topic>${ns}${device_ns}scan</topic>
-        <frame_id>${ns}${prefix}laser</frame_id>
-        <ignition_frame_id>${ns}${prefix}laser</ignition_frame_id>
-
-        <update_rate>10.0</update_rate>
-        <ray>
-          <scan>
-            <horizontal>
-              <samples>920</samples>
-              <resolution>1</resolution>
-              <min_angle>-${pi}</min_angle>
-              <max_angle>${pi}</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.04</min>
-            <max>40.0</max>
-            <resolution>0.03</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.001</stddev>
-          </noise>
-        </ray>
-        <always_on>true</always_on>
-        <visualize>false</visualize>
-      </sensor>
-    </gazebo>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf/slamtec_rplidar_s2.urdf.xacro b/urdf/slamtec_rplidar_s2.urdf.xacro
deleted file mode 100644
index d5ba416..0000000
--- a/urdf/slamtec_rplidar_s2.urdf.xacro
+++ /dev/null
@@ -1,104 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="slamtec_rplidar_s2"
-               params="parent_link xyz rpy
-                       namespace:=None
-                       device_namespace:=None ">
-
-    <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${namespace == 'None'}">
-      <xacro:property name="ns" value="${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}slamtec_rplidar_s2_joint" type="fixed">
-      <origin xyz="${xyz}" rpy="${rpy}" />
-      <parent link="${parent_link}" />
-      <child link="${prefix}slamtec_rplidar_s2_link" />
-    </joint>
-
-    <link name="${prefix}slamtec_rplidar_s2_link">
-      <visual>
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-        <geometry>
-          <mesh filename="package://ros_components_description/meshes/slamtec_rplidar_s2.dae" />
-        </geometry>
-      </visual>
-
-      <!-- base and head collision -->
-      <collision>
-        <origin xyz="0.0 0.0 ${0.038857/2.0}" rpy="0.0 0.0 0.0" />
-        <geometry>
-          <box size="0.077 0.076856 0.038857" />
-        </geometry>
-      </collision>
-
-      <inertial>
-        <origin xyz="0.0 -0.000021 ${0.038857/2.0 + 0.0017953}" rpy="0.0 0.0 0.0" />
-        <mass value="0.104949" />
-        <inertia ixx="0.00005071491" ixy="0.0"            ixz="0.0"
-                                     iyy="0.00005064080"  iyz="0.0"
-                                                          izz="0.000075682018" />
-      </inertial>
-    </link>
-
-    <joint name="${prefix}slamtec_rplidar_s2_to_${prefix}laser_joint" type="fixed">
-      <origin xyz="0.0 0.0 0.0285" rpy="0.0 0.0 ${pi}" />
-      <parent link="${prefix}slamtec_rplidar_s2_link" />
-      <child link="${prefix}laser" />
-    </joint>
-
-    <link name="${prefix}laser" />
-
-    <gazebo reference="${prefix}laser">
-      <!-- gpu_lidar has to be set, CPU lidar doesn't work in ignition -
-      https://github.com/gazebosim/gz-sensors/issues/26 -->
-      <sensor type="gpu_lidar" name="${ns}${prefix}slamtec_rplidar_s2_sensor">
-
-        <topic>${ns}${device_ns}scan</topic>
-        <frame_id>${ns}${prefix}laser</frame_id>
-        <ignition_frame_id>${ns}${prefix}laser</ignition_frame_id>
-
-        <update_rate>10.0</update_rate>
-        <ray>
-          <scan>
-            <horizontal>
-              <samples>3000</samples>
-              <resolution>1</resolution>
-              <min_angle>-${pi}</min_angle>
-              <max_angle>${pi}</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.05</min>
-            <max>30.0</max>
-            <resolution>0.03</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.001</stddev>
-          </noise>
-        </ray>
-        <always_on>1</always_on>
-        <visualize>false</visualize>
-      </sensor>
-    </gazebo>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf/slamtec_rplidar_s3.urdf.xacro b/urdf/slamtec_rplidar_s3.urdf.xacro
deleted file mode 100644
index 8c37afc..0000000
--- a/urdf/slamtec_rplidar_s3.urdf.xacro
+++ /dev/null
@@ -1,104 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="slamtec_rplidar_s3"
-               params="parent_link xyz rpy
-                       namespace:=None
-                       device_namespace:=None">
-
-    <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${namespace == 'None'}">
-      <xacro:property name="ns" value="${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}slamtec_rplidar_s3_joint" type="fixed">
-      <origin xyz="${xyz}" rpy="${rpy}" />
-      <parent link="${parent_link}" />
-      <child link="${prefix}slamtec_rplidar_s3_link" />
-    </joint>
-
-    <link name="${prefix}slamtec_rplidar_s3_link">
-      <visual>
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-        <geometry>
-          <mesh filename="package://ros_components_description/meshes/slamtec_rplidar_s3.dae" />
-        </geometry>
-      </visual>
-
-      <!-- base and head collision -->
-      <collision>
-        <origin xyz="0.0 0.0 ${0.0413/2.0}" rpy="0.0 0.0 0.0" />
-        <geometry>
-          <box size="0.0556 0.0556 0.0413" />
-        </geometry>
-      </collision>
-
-      <inertial>
-        <origin xyz="0.0 0.0 ${0.0413/2.0 + 0.0018237}" rpy="0.0 0.0 0.0" />
-        <mass value="0.115033" />
-        <inertia ixx="0.00004115765" ixy="0.0"            ixz="0.0"
-                                     iyy="0.00004115765"  iyz="0.0"
-                                                          izz="0.00004956023" />
-      </inertial>
-    </link>
-
-    <joint name="${prefix}slamtec_rplidar_s3_to_${prefix}laser_joint" type="fixed">
-      <origin xyz="0.0 0.0 0.0305" rpy="0.0 0.0 ${pi}" />
-      <parent link="${prefix}slamtec_rplidar_s3_link" />
-      <child link="${prefix}laser" />
-    </joint>
-
-    <link name="${prefix}laser" />
-
-    <gazebo reference="${prefix}laser">
-      <!-- gpu_lidar has to be set, CPU lidar doesn't work in ignition -
-      https://github.com/gazebosim/gz-sensors/issues/26 -->
-      <sensor type="gpu_lidar" name="${ns}${prefix}slamtec_rplidar_s3_sensor">
-
-        <topic>${ns}${device_ns}scan</topic>
-        <frame_id>${ns}${prefix}laser</frame_id>
-        <ignition_frame_id>${ns}${prefix}laser</ignition_frame_id>
-
-        <update_rate>10.0</update_rate>
-        <ray>
-          <scan>
-            <horizontal>
-              <samples>3000</samples>
-              <resolution>1</resolution>
-              <min_angle>-${pi}</min_angle>
-              <max_angle>${pi}</max_angle>
-            </horizontal>
-          </scan>
-          <range>
-            <min>0.05</min>
-            <max>40.0</max>
-            <resolution>0.01</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.03</stddev>
-          </noise>
-        </ray>
-        <always_on>1</always_on>
-        <visualize>false</visualize>
-      </sensor>
-    </gazebo>
-
-  </xacro:macro>
-</robot>