From 07aefb380db55ed25b4146b18114ae41c737bae7 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Wed, 12 Jun 2024 12:01:44 +0200
Subject: [PATCH] Fix urdf

---
 test/test_components_xacro.py   | 4 ++--
 urdf/slamtec_rplidar.urdf.xacro | 8 --------
 2 files changed, 2 insertions(+), 10 deletions(-)

diff --git a/test/test_components_xacro.py b/test/test_components_xacro.py
index a480e65..3bd9f42 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/slamtec_rplidar.urdf.xacro b/urdf/slamtec_rplidar.urdf.xacro
index 91d18c1..7b5d831 100644
--- a/urdf/slamtec_rplidar.urdf.xacro
+++ b/urdf/slamtec_rplidar.urdf.xacro
@@ -271,12 +271,4 @@
     </gazebo>
 
   </xacro:macro>
-
-
-  <xacro:slamtec_rplidar
-  parent_link="abc"
-  xyz="0 0 0"
-  rpy="0 0 0"
-  model="s2"
-/>
 </robot>