git push origin developmentMerge branch 'Tuebel-d415_add_plug' into d…

…evelopment
IntelRealSense · Feb 16, 2021 · e425451 · e425451
2 parents 3d41d43 + 350ef70
commit e425451
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Showing 6 changed files with 12 additions and 11 deletions.
diff --git a/realsense2_description/urdf/_d415.urdf.xacro b/realsense2_description/urdf/_d415.urdf.xacro
@@ -12,7 +12,7 @@ aluminum peripherial evaluation case.
   <xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
   <xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
 
-  <xacro:macro name="sensor_d415" params="parent *origin  name:=camera  use_nominal_extrinsics:=false  add_plug:=false">
+  <xacro:macro name="sensor_d415" params="parent *origin  name:=camera  use_nominal_extrinsics:=false add_plug:=false">
     <xacro:property name="M_PI" value="3.1415926535897931" />
 
     <!-- The following values are approximate, and the camera node
@@ -136,7 +136,7 @@ aluminum peripherial evaluation case.
       <link name="${name}_color_optical_frame"/>
     </xacro:if>
 
-    <xacro:if value="$(arg add_plug)">
+    <xacro:if value="${add_plug}">
       <xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
         <origin xyz="${d415_cam_mount_from_center_offset - 0.01587} ${-d415_cam_depth_py - 0.0358} 0" rpy="0 0 0"/>
       </xacro:usb_plug>

diff --git a/realsense2_description/urdf/_d435.urdf.xacro b/realsense2_description/urdf/_d435.urdf.xacro
@@ -13,8 +13,7 @@ aluminum peripherial evaluation case.
   <xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
   <xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
 
-  <xacro:macro name="sensor_d435" params="parent *origin name:=camera use_nominal_extrinsics:=false">
-    <xacro:arg name="add_plug" default="false" />
+  <xacro:macro name="sensor_d435" params="parent *origin name:=camera use_nominal_extrinsics:=false add_plug:=false">
     <xacro:property name="M_PI" value="3.1415926535897931" />
 
     <!-- The following values are approximate, and the camera node
@@ -143,7 +142,7 @@ aluminum peripherial evaluation case.
       <link name="${name}_color_optical_frame"/>
     </xacro:if>
 
-    <xacro:if value="$(arg add_plug)">
+    <xacro:if value="${add_plug}">
       <xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
         <origin xyz="${d435_cam_mount_from_center_offset - 0.02095} ${-d435_cam_depth_py - 0.0353} 0" rpy="0 0 0"/>
       </xacro:usb_plug>

diff --git a/realsense2_description/urdf/_l515.urdf.xacro b/realsense2_description/urdf/_l515.urdf.xacro
@@ -13,8 +13,7 @@ aluminum peripherial evaluation case.
   <xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
   <xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" /> <!-- this specific plug does not apply to L515 -->
 
-  <xacro:macro name="sensor_l515" params="parent *origin name:=camera use_nominal_extrinsics:=false">
-    <xacro:arg name="add_plug" default="false" />
+  <xacro:macro name="sensor_l515" params="parent *origin name:=camera use_nominal_extrinsics:=false add_plug:=false">
     <xacro:property name="M_PI" value="3.1415926535897931" />
 
     <!-- The following values are approximate, and the camera node
@@ -143,7 +142,7 @@ aluminum peripherial evaluation case.
       </joint>
       <link name="${name}_color_optical_frame"/>
     </xacro:if>
-    <xacro:if value="$(arg add_plug)">
+    <xacro:if value="${add_plug}">
       <xacro:usb_plug parent="${name}_bottom_screw_frame" name="${name}_usb_plug">
         <origin xyz="${l515_cam_mount_from_glass_offset-0.0148} -0.018 0.018" rpy="${M_PI/4} 0 0 "/>
       </xacro:usb_plug>

diff --git a/realsense2_description/urdf/test_d415_camera.urdf.xacro b/realsense2_description/urdf/test_d415_camera.urdf.xacro
@@ -1,10 +1,11 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:arg name="use_nominal_extrinsics" default="false" />
+  <xacro:arg name="add_plug" default="false" />
   <xacro:include filename="$(find realsense2_description)/urdf/_d415.urdf.xacro" />
 
   <link name="base_link" />
-  <xacro:sensor_d415 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
+  <xacro:sensor_d415 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)" add_plug="$(arg add_plug)">
     <origin xyz="0 0 0" rpy="0 0 0"/>
   </xacro:sensor_d415>
 </robot>
diff --git a/realsense2_description/urdf/test_d435_camera.urdf.xacro b/realsense2_description/urdf/test_d435_camera.urdf.xacro
@@ -1,10 +1,11 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:arg name="use_nominal_extrinsics" default="false"/>
+  <xacro:arg name="add_plug" default="false" />
   <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
 
   <link name="base_link" />
-  <xacro:sensor_d435 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
+  <xacro:sensor_d435 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)" add_plug="$(arg add_plug)">
     <origin xyz="0 0 0" rpy="0 0 0"/>
   </xacro:sensor_d435>
 </robot>
diff --git a/realsense2_description/urdf/test_l515_camera.urdf.xacro b/realsense2_description/urdf/test_l515_camera.urdf.xacro
@@ -1,10 +1,11 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:arg name="use_nominal_extrinsics" default="false"/>
+  <xacro:arg name="add_plug" default="false" />
   <xacro:include filename="$(find realsense2_description)/urdf/_l515.urdf.xacro" />
 
   <link name="base_link" />
-  <xacro:sensor_l515 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
+  <xacro:sensor_l515 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)" add_plug="$(arg add_plug)">
     <origin xyz="0 0 0" rpy="0 0 0"/>
   </xacro:sensor_l515>
 </robot>