s unified mesh

husarion · May 17, 2024 · ced4185 · ced4185
1 parent c86e9e8
commit ced4185
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Showing 2 changed files with 20 additions and 14 deletions.
diff --git a/urdf/components.urdf.xacro b/urdf/components.urdf.xacro
@@ -73,11 +73,11 @@
 
       <xacro:if value="${type == 'LDR10'}">
         <xacro:include
-          filename="$(find ros_components_description)/urdf/ouster_os01.urdf.xacro"
+          filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
           ns="lidar"
         />
 
-        <xacro:lidar.ouster_os01
+        <xacro:lidar.ouster
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
@@ -89,11 +89,11 @@
 
       <xacro:if value="${type == 'LDR11'}">
         <xacro:include
-          filename="$(find ros_components_description)/urdf/ouster_os01.urdf.xacro"
+          filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
           ns="lidar"
         />
 
-        <xacro:lidar.ouster_os01
+        <xacro:lidar.ouster
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
@@ -105,11 +105,11 @@
 
       <xacro:if value="${type == 'LDR12'}">
         <xacro:include
-          filename="$(find ros_components_description)/urdf/ouster_os01.urdf.xacro"
+          filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
           ns="lidar"
         />
 
-        <xacro:lidar.ouster_os01
+        <xacro:lidar.ouster
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
@@ -121,11 +121,11 @@
 
       <xacro:if value="${type == 'LDR13'}">
         <xacro:include
-          filename="$(find ros_components_description)/urdf/ouster_os01.urdf.xacro"
+          filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
           ns="lidar"
         />
 
-        <xacro:lidar.ouster_os01
+        <xacro:lidar.ouster
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
@@ -137,11 +137,11 @@
 
       <xacro:if value="${type == 'LDR14'}">
         <xacro:include
-          filename="$(find ros_components_description)/urdf/ouster_os01.urdf.xacro"
+          filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
           ns="lidar"
         />
 
-        <xacro:lidar.ouster_os01
+        <xacro:lidar.ouster
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
@@ -153,11 +153,11 @@
 
       <xacro:if value="${type == 'LDR15'}">
         <xacro:include
-          filename="$(find ros_components_description)/urdf/ouster_os01.urdf.xacro"
+          filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
           ns="lidar"
         />
 
-        <xacro:lidar.ouster_os01
+        <xacro:lidar.ouster
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"

diff --git a/urdf/ouster_os01.urdf.xacro → urdf/ouster.urdf.xacro b/urdf/ouster_os01.urdf.xacro → urdf/ouster.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="ouster_os01"
+    <xacro:macro name="ouster"
                params="parent_link xyz rpy
                        model:=os1_32
                        namespace:=None
@@ -10,36 +10,42 @@
       <xacro:property name="vfov" value="${radians(90.0)}" scope="parent" />
       <xacro:property name="lidar_range" value="50" scope="parent"/>
       <xacro:property name="layers" value="32" scope="parent"/>
+      <xacro:property name="mesh" value="ouster_os01" scope="parent"/>
     </xacro:if>
 
     <xacro:if value="${model == 'os0_64'}">
       <xacro:property name="vfov" value="${radians(90.0)}" scope="parent" />
       <xacro:property name="lidar_range" value="50" scope="parent" />
       <xacro:property name="layers" value="64" scope="parent" />
+      <xacro:property name="mesh" value="ouster_os01" scope="parent"/>
     </xacro:if>
 
     <xacro:if value="${model == 'os0_128'}">
       <xacro:property name="vfov" value="${radians(90.0)}" scope="parent" />
       <xacro:property name="lidar_range" value="50" scope="parent" />
       <xacro:property name="layers" value="128" scope="parent" />
+      <xacro:property name="mesh" value="ouster_os01" scope="parent"/>
     </xacro:if>
 
     <xacro:if value="${model == 'os1_32'}">
       <xacro:property name="vfov" value="${radians(45.0)}" scope="parent" />
       <xacro:property name="lidar_range" value="120" scope="parent" />
       <xacro:property name="layers" value="32" scope="parent" />
+      <xacro:property name="mesh" value="ouster_os01" scope="parent"/>
     </xacro:if>
 
     <xacro:if value="${model == 'os1_64'}">
       <xacro:property name="vfov" value="${radians(45.0)}" scope="parent" />
       <xacro:property name="lidar_range" value="120" scope="parent" />
       <xacro:property name="layers" value="64" scope="parent" />
+      <xacro:property name="mesh" value="ouster_os01" scope="parent"/>
     </xacro:if>
 
     <xacro:if value="${model == 'os1_128'}">
       <xacro:property name="vfov" value="${radians(45.0)}" scope="parent" />
       <xacro:property name="lidar_range" value="120" scope="parent" />
       <xacro:property name="layers" value="128" scope="parent" />
+      <xacro:property name="mesh" value="ouster_os01" scope="parent"/>
     </xacro:if>
 
     <xacro:if value="${namespace == 'None'}">
@@ -73,7 +79,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="package://ros_components_description/meshes/ouster_os01.dae" />
+          <mesh filename="package://ros_components_description/meshes/${mesh}.dae" />
         </geometry>
       </visual>