Add prefix (#36)

* file -> package * Add prefix * update readme
husarion · Jan 4, 2024 · 4f1bc6f · 4f1bc6f
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diff --git a/README.md b/README.md
@@ -1,10 +1,12 @@
 # ros_components_description
+
 URDF models of sensors and other components offered alongside with Husarion robots
 
 ## Including sensor
 
 First build the package by running:
-``` bash
+
+```bash
 # create workspace folder and clone ros_components_description
 mkdir -p ros2_ws/src
 cd ros2_ws
@@ -25,7 +27,8 @@ colcon build
 ```
 
 To include the sensor, use the following code:
-``` xml
+
+```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" />
 
@@ -39,15 +42,16 @@ To include the sensor, use the following code:
 ```
 
 A list of parameters can be found here:
+
 - `parent_link` [*string*, default: **None**] parent link to which sensor should be attached.
 - `xyz` [*float list*, default: **None**] 3 float values defining translation between base of a sensor and parent link. Values in **m**.
 - `rpy` [*float list*, default: **None**] 3 float values define rotation between parent link and base of a sensor. Values in **rad**.
 - `tf_prefix` [*string*, optional] tf prefix applied before all links created by sensor. If defined, applies `<tf_prefix>_<sensor_name>`. If not defined, leaves `<sensor_name>` intact. Applies also to `frame_id` parameter.
-- `topic` [*string*, default: **same as default of manufacturer**] name of topic at which simulated sensor will publish data.
-- `frame_id` [*string*, default: **same as default of manufacturer**] name of final tf to which sensor will be attached. Should match one from message published by sensor.
+- `topic` [*string*, default: **same as manufacturer's default**] name of topic at which simulated sensor will publish data.
+- `frame_id` [*string*, default: **same as manufacturer's default**] name of final tf to which sensor will be attached. Should match one from message published by sensor.
 - `use_gpu` [*bool*, default: **false**] enable GPU acceleration for sensor. Available only if sensor can be accelerated.
 - `simulation_engine` [*string*, default: **gazebo-classic**] selected for which simulation engine plugins should be loaded. Currently the only supported:
-    - **gazebo-classic** used to select [Gazebo Classic](https://classic.gazebosim.org/).
-    - **ignition-gazebo** used to select [Ignition Gazebo](https://gazebosim.org/home).
+  - **gazebo-classic** used to select [Gazebo Classic](https://classic.gazebosim.org/).
+  - **ignition-gazebo** used to select [Ignition Gazebo](https://gazebosim.org/home).
 
-Some sensors can define their specific parameters. Refer to their definition for more info.
+Some sensors can define their specific parameters. Refer to their definition for more info.
diff --git a/urdf/intel_realsense_d435.urdf.xacro b/urdf/intel_realsense_d435.urdf.xacro
@@ -17,14 +17,22 @@
 # limitations under the License.
 -->
 
-<robot name="intel_camera" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="intel_realsense_d435" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="intel_realsense_d435"
     params="parent_link xyz rpy
+            tf_prefix:=None
             name:=camera
             topic:=camera
             use_nominal_extrinsics:=false
             simulation_engine:=ignition-gazebo">
 
+    <xacro:if value="${tf_prefix == 'None'}">
+      <xacro:property name="prefix" value="" />
+    </xacro:if>
+    <xacro:unless value="${tf_prefix == 'None'}">
+      <xacro:property name="prefix" value="${tf_prefix}_" />
+    </xacro:unless>
+
     <!-- The following values are approximate, and the camera node
       publishing TF values with actual calibrated camera extrinsic values -->
     <xacro:property name="d435_cam_depth_to_infra1_offset" value="0.0" />
@@ -54,22 +62,22 @@
     <xacro:property name="d435_cam_depth_pz" value="${d435_cam_height/2}" />
 
     <!-- camera body, with origin at bottom screw mount -->
-    <joint name="${parent_link.rstrip('_link')}_to_${name}_bottom_screw_joint" type="fixed">
+    <joint name="${parent_link.rstrip('_link')}_to_${prefix}${name}_bottom_screw_joint" type="fixed">
       <origin xyz="${xyz}" rpy="${rpy}" />
       <parent link="${parent_link}" />
-      <child link="${name}_bottom_screw_frame" />
+      <child link="${prefix}${name}_bottom_screw_frame" />
     </joint>
 
-    <link name="${name}_bottom_screw_frame" />
+    <link name="${prefix}${name}_bottom_screw_frame" />
 
-    <joint name="${name}_bottom_screw_to_${name}_joint" type="fixed">
+    <joint name="${prefix}${name}_bottom_screw_to_${prefix}${name}_joint" type="fixed">
       <origin xyz="${d435_mesh_x_offset} ${d435_cam_depth_py} ${d435_cam_depth_pz}"
         rpy="0.0 0.0 0.0" />
-      <parent link="${name}_bottom_screw_frame" />
-      <child link="${name}_link" />
+      <parent link="${prefix}${name}_bottom_screw_frame" />
+      <child link="${prefix}${name}_link" />
     </joint>
 
-    <link name="${name}_link">
+    <link name="${prefix}${name}_link">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
@@ -96,86 +104,86 @@
       published. e.g. running the device in simulation  -->
     <xacro:if value="${use_nominal_extrinsics}">
       <!-- camera depth joints and links -->
-      <joint name="${name}_to_${name}_depth_joint" type="fixed">
+      <joint name="${prefix}${name}_to_${prefix}${name}_depth_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${name}_link" />
-        <child link="${name}_depth_frame" />
+        <parent link="${prefix}${name}_link" />
+        <child link="${prefix}${name}_depth_frame" />
       </joint>
 
-      <link name="${name}_depth_frame" />
+      <link name="${prefix}${name}_depth_frame" />
 
-      <joint name="${name}_depth_to_${name}_depth_optical_joint" type="fixed">
+      <joint name="${prefix}${name}_depth_to_${prefix}${name}_depth_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${name}_depth_frame" />
-        <child link="${name}_depth_optical_frame" />
+        <parent link="${prefix}${name}_depth_frame" />
+        <child link="${prefix}${name}_depth_optical_frame" />
       </joint>
 
-      <link name="${name}_depth_optical_frame" />
+      <link name="${prefix}${name}_depth_optical_frame" />
 
       <!-- camera left IR joints and links -->
-      <joint name="${name}_to_${name}_infra1_joint" type="fixed">
+      <joint name="${prefix}${name}_to_${prefix}${name}_infra1_joint" type="fixed">
         <origin xyz="0.0 ${d435_cam_depth_to_infra1_offset} 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${name}_link" />
-        <child link="${name}_infra1_frame" />
+        <parent link="${prefix}${name}_link" />
+        <child link="${prefix}${name}_infra1_frame" />
       </joint>
 
-      <link name="${name}_infra1_frame" />
+      <link name="${prefix}${name}_infra1_frame" />
 
-      <joint name="${name}_infra1_to_${name}_infra1_optical_joint" type="fixed">
+      <joint name="${prefix}${name}_infra1_to_${prefix}${name}_infra1_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${name}_infra1_frame" />
-        <child link="${name}_infra1_optical_frame" />
+        <parent link="${prefix}${name}_infra1_frame" />
+        <child link="${prefix}${name}_infra1_optical_frame" />
       </joint>
 
-      <link name="${name}_infra1_optical_frame" />
+      <link name="${prefix}${name}_infra1_optical_frame" />
 
       <!-- camera right IR joints and links -->
-      <joint name="${name}_to_${name}_infra2_joint" type="fixed">
+      <joint name="${prefix}${name}_to_${prefix}${name}_infra2_joint" type="fixed">
         <origin xyz="0.0 ${d435_cam_depth_to_infra2_offset} 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${name}_link" />
-        <child link="${name}_infra2_frame" />
+        <parent link="${prefix}${name}_link" />
+        <child link="${prefix}${name}_infra2_frame" />
       </joint>
 
-      <link name="${name}_infra2_frame" />
+      <link name="${prefix}${name}_infra2_frame" />
 
-      <joint name="${name}_infra2_to_${name}_infra2_optical_joint" type="fixed">
+      <joint name="${prefix}${name}_infra2_to_${prefix}${name}_infra2_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${name}_infra2_frame" />
-        <child link="${name}_infra2_optical_frame" />
+        <parent link="${prefix}${name}_infra2_frame" />
+        <child link="${prefix}${name}_infra2_optical_frame" />
       </joint>
 
-      <link name="${name}_infra2_optical_frame" />
+      <link name="${prefix}${name}_infra2_optical_frame" />
 
       <!-- camera color joints and links -->
-      <joint name="${name}_to_${name}_color_joint" type="fixed">
+      <joint name="${prefix}${name}_to_${prefix}${name}_color_joint" type="fixed">
         <origin xyz="0.0 ${d435_cam_depth_to_color_offset} 0.0" rpy="0.0 0.0 0.0" />
-        <parent link="${name}_link" />
-        <child link="${name}_color_frame" />
+        <parent link="${prefix}${name}_link" />
+        <child link="${prefix}${name}_color_frame" />
       </joint>
 
-      <link name="${name}_color_frame" />
+      <link name="${prefix}${name}_color_frame" />
 
-      <joint name="${name}_color_to_${name}_color_optical_joint" type="fixed">
+      <joint name="${prefix}${name}_color_to_${prefix}${name}_color_optical_joint" type="fixed">
         <origin xyz="0.0 0.0 0.0" rpy="${-pi/2.0} 0.0 ${-pi/2.0}" />
-        <parent link="${name}_color_frame" />
-        <child link="${name}_color_optical_frame" />
+        <parent link="${prefix}${name}_color_frame" />
+        <child link="${prefix}${name}_color_optical_frame" />
       </joint>
 
-      <link name="${name}_color_optical_frame" />
+      <link name="${prefix}${name}_color_optical_frame" />
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <!-- It is also possible to use single rgbd_camera sensor, but using separate rgb and depth camera
         should be more accurate for D435 - different frames and fovs can be set -->
-      <gazebo reference="${name}_link">
-        <sensor type="camera" name="${name}_color">
+      <gazebo reference="${prefix}${name}_link">
+        <sensor type="camera" name="${prefix}${name}_color">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
           <topic>${topic}/color/image_raw</topic>
           <visualize>false</visualize>
 
-          <ignition_frame_id>${name}_color_optical_frame</ignition_frame_id>
+          <ignition_frame_id>${prefix}${name}_color_optical_frame</ignition_frame_id>
           <horizontal_fov>${69.0/180.0*pi}</horizontal_fov>
           <image>
             <width>1280</width>
@@ -188,14 +196,14 @@
           </clip>
         </sensor>
 
-        <sensor type="depth_camera" name="${name}_depth">
+        <sensor type="depth_camera" name="${prefix}${name}_depth">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
           <topic>${topic}/depth</topic>
           <visualize>false</visualize>
 
-          <ignition_frame_id>${name}_depth_optical_frame</ignition_frame_id>
+          <ignition_frame_id>${prefix}${name}_depth_optical_frame</ignition_frame_id>
           <camera>
             <horizontal_fov>${87.0/180.0*pi}</horizontal_fov>
             <image>

diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
@@ -7,19 +7,19 @@
                        simulation_engine:=gazebo-classic">
 
     <xacro:if value="${tf_prefix == 'None'}">
-      <xacro:property name="tf_prefix_ext" value="" />
+      <xacro:property name="prefix" value="" />
     </xacro:if>
     <xacro:unless value="${tf_prefix == 'None'}">
-      <xacro:property name="tf_prefix_ext" value="${tf_prefix}_" />
+      <xacro:property name="prefix" value="${tf_prefix}_" />
     </xacro:unless>
 
-    <joint name="${parent_link.rstrip('_link')}_to_${tf_prefix_ext}${camera_name}_orbbec_astra_joint" type="fixed">
+    <joint name="${parent_link.rstrip('_link')}_to_${prefix}${camera_name}_orbbec_astra_joint" type="fixed">
       <origin xyz="${xyz}" rpy="${rpy}" />
       <parent link="${parent_link}" />
-      <child link="${tf_prefix_ext}${camera_name}_orbbec_astra_link" />
+      <child link="${prefix}${camera_name}_orbbec_astra_link" />
     </joint>
 
-    <link name="${tf_prefix_ext}${camera_name}_orbbec_astra_link">
+    <link name="${prefix}${camera_name}_orbbec_astra_link">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
@@ -52,50 +52,50 @@
       </inertial>
     </link>
 
-    <joint name="${parent_link.rstrip('_link')}_to_${tf_prefix_ext}${camera_name}_color_joint" type="fixed">
+    <joint name="${parent_link.rstrip('_link')}_to_${prefix}${camera_name}_color_joint" type="fixed">
       <origin xyz="-0.002 0.0125 0.03325" rpy="-0.003 0.0 -0.003" />
       <parent link="${parent_link}" />
-      <child link="${tf_prefix_ext}${camera_name}_color_frame" />
+      <child link="${prefix}${camera_name}_color_frame" />
     </joint>
 
-    <link name="${tf_prefix_ext}${camera_name}_depth_frame" />
+    <link name="${prefix}${camera_name}_depth_frame" />
 
-    <joint name="${parent_link.rstrip('_link')}_to_${tf_prefix_ext}${camera_name}_depth_joint" type="fixed">
+    <joint name="${parent_link.rstrip('_link')}_to_${prefix}${camera_name}_depth_joint" type="fixed">
       <origin xyz="0.0 0.0 0.03325" rpy="0.0 0.0 0.0" />
       <parent link="${parent_link}" />
-      <child link="${tf_prefix_ext}${camera_name}_depth_frame" />
+      <child link="${prefix}${camera_name}_depth_frame" />
     </joint>
 
-    <link name="${tf_prefix_ext}${camera_name}_color_frame" />
+    <link name="${prefix}${camera_name}_color_frame" />
 
-    <joint name="${tf_prefix_ext}${camera_name}_color_to_${tf_prefix_ext}${camera_name}_color_optical_joint" type="fixed">
+    <joint name="${prefix}${camera_name}_color_to_${prefix}${camera_name}_color_optical_joint" type="fixed">
       <origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0.0 ${-pi/2}" />
-      <parent link="${tf_prefix_ext}${camera_name}_color_frame" />
-      <child link="${tf_prefix_ext}${camera_name}_color_optical_frame" />
+      <parent link="${prefix}${camera_name}_color_frame" />
+      <child link="${prefix}${camera_name}_color_optical_frame" />
     </joint>
 
-    <link name="${tf_prefix_ext}${camera_name}_depth_optical_frame" />
+    <link name="${prefix}${camera_name}_depth_optical_frame" />
 
-    <joint name="${tf_prefix_ext}${camera_name}_depth_to_${tf_prefix_ext}${camera_name}_depth_optical_joint" type="fixed">
+    <joint name="${prefix}${camera_name}_depth_to_${prefix}${camera_name}_depth_optical_joint" type="fixed">
       <origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0.0 ${-pi/2}" />
-      <parent link="${tf_prefix_ext}${camera_name}_depth_frame" />
-      <child link="${tf_prefix_ext}${camera_name}_depth_optical_frame" />
+      <parent link="${prefix}${camera_name}_depth_frame" />
+      <child link="${prefix}${camera_name}_depth_optical_frame" />
     </joint>
 
-    <link name="${tf_prefix_ext}${camera_name}_color_optical_frame" />
+    <link name="${prefix}${camera_name}_color_optical_frame" />
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
-      <gazebo reference="${tf_prefix_ext}${camera_name}_orbbec_astra_link">
-        <sensor type="rgbd_camera" name="${tf_prefix_ext}${camera_name}_orbbec_astra_camera">
+      <gazebo reference="${prefix}${camera_name}_orbbec_astra_link">
+        <sensor type="rgbd_camera" name="${prefix}${camera_name}_orbbec_astra_camera">
           <always_on>true</always_on>
           <update_rate>20.0</update_rate>
 
           <topic>${camera_name}</topic>
           <!-- It is not possible to split the frame of the color and the depth stream.
-               The frame of color stream should be ${tf_prefix_ext}${camera_name}_color_optical_frame -->
-          <ignition_frame_id>${tf_prefix_ext}${camera_name}_depth_optical_frame</ignition_frame_id>
+               The frame of color stream should be ${prefix}${camera_name}_color_optical_frame -->
+          <ignition_frame_id>${prefix}${camera_name}_depth_optical_frame</ignition_frame_id>
 
-          <camera name="${tf_prefix_ext}camera">
+          <camera name="${prefix}camera">
             <horizontal_fov>${60.0/180.0*pi}</horizontal_fov>
             <image>
               <width>640</width>
@@ -117,12 +117,12 @@
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'gazebo-classic'}">
-      <gazebo reference="${tf_prefix_ext}orbbec_astra_link">
-        <sensor type="depth" name="${tf_prefix_ext}orbbec_astra_camera">
+      <gazebo reference="${prefix}orbbec_astra_link">
+        <sensor type="depth" name="${prefix}orbbec_astra_camera">
           <always_on>true</always_on>
           <update_rate>20.0</update_rate>
 
-          <camera name="${tf_prefix_ext}camera">
+          <camera name="${prefix}camera">
             <horizontal_fov>${60.0/180.0*pi}</horizontal_fov>
             <image>
               <format>R8G8B8</format>
@@ -131,7 +131,7 @@
             </image>
           </camera>
 
-          <plugin name="${tf_prefix_ext}orbbec_astra_camera" filename="libgazebo_ros_camera.so">
+          <plugin name="${prefix}orbbec_astra_camera" filename="libgazebo_ros_camera.so">
             <ros>
               <namespace>orbbec_astra_camera</namespace>
               <remapping>custom_camera/image_raw:=rgb/image_raw</remapping>
@@ -141,8 +141,8 @@
               <remapping>custom_camera/points:=depth/points</remapping>
             </ros>
 
-            <camera_name>${tf_prefix_ext}camera</camera_name>
-            <frame_name>${tf_prefix_ext}${frame_id}</frame_name>
+            <camera_name>${prefix}camera</camera_name>
+            <frame_name>${prefix}${frame_id}</frame_name>
             <hack_baseline>0.07</hack_baseline>
 
             <min_depth>0.6</min_depth>
@@ -152,4 +152,4 @@
       </gazebo>
     </xacro:if>
   </xacro:macro>
-</robot>
+</robot>