From e15f64c69a881a8b637ad543f4addeb1f5c49db3 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Wed, 27 Dec 2023 13:09:46 +0100
Subject: [PATCH 1/3] added namespaces for astra rplidar

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 urdf/orbbec_astra.urdf.xacro       | 22 ++++++++++++++--------
 urdf/slamtec_rplidar_a2.urdf.xacro | 22 ++++++++++++++--------
 urdf/slamtec_rplidar_a3.urdf.xacro | 23 +++++++++++++++--------
 urdf/slamtec_rplidar_s1.urdf.xacro | 23 +++++++++++++++--------
 4 files changed, 58 insertions(+), 32 deletions(-)

diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
index 49768eb..c789ada 100644
--- a/urdf/orbbec_astra.urdf.xacro
+++ b/urdf/orbbec_astra.urdf.xacro
@@ -4,8 +4,16 @@
                params="parent_link xyz rpy
                        tf_prefix:=None
                        camera_name:=camera
+                       namespace:=None
                        simulation_engine:=gazebo-classic">
 
+      <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="namespace_ext" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+        <xacro:property name="namespace_ext" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${tf_prefix == 'None'}">
       <xacro:property name="tf_prefix_ext" value="" />
     </xacro:if>
@@ -77,7 +85,7 @@
     <link name="${tf_prefix_ext}${camera_name}_depth_optical_frame" />
 
     <joint name="${tf_prefix_ext}${camera_name}_depth_to_${tf_prefix_ext}${camera_name}_depth_optical_joint" type="fixed">
-      <origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0.0 ${-pi/2}" />
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       <parent link="${tf_prefix_ext}${camera_name}_depth_frame" />
       <child link="${tf_prefix_ext}${camera_name}_depth_optical_frame" />
     </joint>
@@ -90,7 +98,7 @@
           <always_on>true</always_on>
           <update_rate>20.0</update_rate>
 
-          <topic>${camera_name}</topic>
+          <topic>${namespace_ext}${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>
@@ -107,13 +115,11 @@
               <far>8.0</far>
             </clip>
           </camera>
+          <ros>
+            <namespace>${namespace_ext}</namespace>
+          </ros>
         </sensor>
       </gazebo>
-      <!-- <gazebo>
-        <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-          <render_engine>ogre2</render_engine>
-        </plugin>
-      </gazebo>  -->
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'gazebo-classic'}">
@@ -152,4 +158,4 @@
       </gazebo>
     </xacro:if>
   </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/urdf/slamtec_rplidar_a2.urdf.xacro b/urdf/slamtec_rplidar_a2.urdf.xacro
index 007659f..1f608e5 100644
--- a/urdf/slamtec_rplidar_a2.urdf.xacro
+++ b/urdf/slamtec_rplidar_a2.urdf.xacro
@@ -12,8 +12,16 @@
                        topic:=scan
                        frame_id:=laser
                        model:=A2M12
+                       namespace:=None
                        simulation_engine:=gazebo-classic">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="namespace_ext" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+        <xacro:property name="namespace_ext" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:if value="${simulation_engine == 'gazebo-classic'}">
         <xacro:property name="ray_type" value="gpu_ray" />
@@ -100,9 +108,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${tf_prefix_ext}${frame_id}">
-        <sensor type="${ray_type}" name="${tf_prefix_ext}rplidar_a2_sensor">
+        <sensor type="${ray_type}" name="${namespace_ext}${tf_prefix_ext}rplidar_a2_sensor">
 
-          <topic>${topic}</topic>
+          <topic>${namespace_ext}scan</topic>
           <frame_id>${tf_prefix_ext}${frame_id}</frame_id>
           <ignition_frame_id>${tf_prefix_ext}${frame_id}</ignition_frame_id>
 
@@ -129,13 +137,11 @@
           </ray>
           <always_on>true</always_on>
           <visualize>false</visualize>
+          <ros>
+            <namespace>${namespace_ext}</namespace>
+          </ros>
         </sensor>
       </gazebo>
-      <gazebo>
-          <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-            <render_engine>ogre2</render_engine>
-          </plugin>
-        </gazebo>
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'gazebo-classic'}">
@@ -177,4 +183,4 @@
       </gazebo>
     </xacro:if>
   </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/urdf/slamtec_rplidar_a3.urdf.xacro b/urdf/slamtec_rplidar_a3.urdf.xacro
index 9d378c3..ead4f40 100644
--- a/urdf/slamtec_rplidar_a3.urdf.xacro
+++ b/urdf/slamtec_rplidar_a3.urdf.xacro
@@ -6,8 +6,17 @@
                        tf_prefix:=None
                        topic:=scan
                        frame_id:=laser
+                       namespace:=None
                        simulation_engine:=gazebo-classic">
 
+
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="namespace_ext" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+        <xacro:property name="namespace_ext" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:if value="${simulation_engine == 'gazebo-classic'}">
         <xacro:property name="ray_type" value="gpu_ray" />
@@ -75,9 +84,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${tf_prefix_ext}${frame_id}">
-        <sensor type="${ray_type}" name="${tf_prefix_ext}rplidar_a3_sensor">
+        <sensor type="${ray_type}" name="${namespace_ext}${tf_prefix_ext}rplidar_a3_sensor">
 
-          <topic>${topic}</topic>
+          <topic>${namespace_ext}${topic}</topic>
           <frame_id>${tf_prefix_ext}${frame_id}</frame_id>
           <ignition_frame_id>${tf_prefix_ext}${frame_id}</ignition_frame_id>
 
@@ -105,13 +114,11 @@
           </ray>
           <always_on>true</always_on>
           <visualize>false</visualize>
+          <ros>
+            <namespace>${namespace_ext}</namespace>
+          </ros>
         </sensor>
       </gazebo>
-      <gazebo>
-          <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-            <render_engine>ogre2</render_engine>
-          </plugin>
-        </gazebo>
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'gazebo-classic'}">
@@ -154,4 +161,4 @@
       </gazebo>
     </xacro:if>
   </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/urdf/slamtec_rplidar_s1.urdf.xacro b/urdf/slamtec_rplidar_s1.urdf.xacro
index f46d411..db90b33 100644
--- a/urdf/slamtec_rplidar_s1.urdf.xacro
+++ b/urdf/slamtec_rplidar_s1.urdf.xacro
@@ -6,8 +6,17 @@
                        tf_prefix:=None
                        topic:=scan
                        frame_id:=laser
+                       namespace=None
                        simulation_engine:=gazebo-classic">
 
+
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="namespace_ext" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+        <xacro:property name="namespace_ext" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:if value="${simulation_engine == 'gazebo-classic'}">
         <xacro:property name="ray_type" value="gpu_ray" />
@@ -83,9 +92,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${tf_prefix_ext}${frame_id}">
-        <sensor type="${ray_type}" name="${tf_prefix_ext}rplidar_s1_sensor">
+        <sensor type="${ray_type}" name="${namespace_ext}${tf_prefix_ext}rplidar_s1_sensor">
 
-          <topic>${topic}</topic>
+          <topic>${namespace_ext}${topic}</topic>
           <frame_id>${tf_prefix_ext}${frame_id}</frame_id>
           <ignition_frame_id>${tf_prefix_ext}${frame_id}</ignition_frame_id>
 
@@ -112,13 +121,11 @@
           </ray>
           <always_on>1</always_on>
           <visualize>false</visualize>
+          <ros>
+            <namespace>${namespace_ext}</namespace>
+          </ros>
         </sensor>
       </gazebo>
-      <gazebo>
-        <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-          <render_engine>ogre2</render_engine>
-        </plugin>
-      </gazebo>
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'gazebo-classic'}">
@@ -160,4 +167,4 @@
       </gazebo>
     </xacro:if>
   </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>

From 24f1d57c9143c301b76dabd96cec03363d382079 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Wed, 27 Dec 2023 13:15:29 +0100
Subject: [PATCH 2/3] added namespace gazebo to other rplidars

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 urdf/slamtec_rplidar_s2.urdf.xacro | 20 +++++++++++++-------
 urdf/slamtec_rplidar_s3.urdf.xacro | 20 +++++++++++++-------
 2 files changed, 26 insertions(+), 14 deletions(-)

diff --git a/urdf/slamtec_rplidar_s2.urdf.xacro b/urdf/slamtec_rplidar_s2.urdf.xacro
index e79aa28..aa6eda8 100644
--- a/urdf/slamtec_rplidar_s2.urdf.xacro
+++ b/urdf/slamtec_rplidar_s2.urdf.xacro
@@ -6,8 +6,16 @@
                        tf_prefix:=None
                        topic:=scan
                        frame_id:=laser
+                       namespace=None
                        simulation_engine:=gazebo-classic">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="namespace_ext" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+        <xacro:property name="namespace_ext" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:if value="${simulation_engine == 'gazebo-classic'}">
         <xacro:property name="ray_type" value="gpu_ray" />
@@ -75,9 +83,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${prefix}rplidar_s2_sensor">
+        <sensor type="${ray_type}" name="${namespace_ext}${prefix}rplidar_s2_sensor">
 
-          <topic>${topic}</topic>
+          <topic>${namespace_ext}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -104,13 +112,11 @@
           </ray>
           <always_on>1</always_on>
           <visualize>false</visualize>
+          <ros>
+            <namespace>${namespace_ext}</namespace>
+          </ros>
         </sensor>
       </gazebo>
-      <gazebo>
-        <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-          <render_engine>ogre2</render_engine>
-        </plugin>
-      </gazebo>
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'gazebo-classic'}">
diff --git a/urdf/slamtec_rplidar_s3.urdf.xacro b/urdf/slamtec_rplidar_s3.urdf.xacro
index e54c5fc..008d142 100644
--- a/urdf/slamtec_rplidar_s3.urdf.xacro
+++ b/urdf/slamtec_rplidar_s3.urdf.xacro
@@ -6,8 +6,16 @@
                        tf_prefix:=None
                        topic:=scan
                        frame_id:=laser
+                       namespace=None
                        simulation_engine:=gazebo-classic">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="namespace_ext" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+        <xacro:property name="namespace_ext" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:if value="${simulation_engine == 'gazebo-classic'}">
         <xacro:property name="ray_type" value="gpu_ray" />
@@ -75,9 +83,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${prefix}rplidar_s3_sensor">
+        <sensor type="${ray_type}" name="${namespace_ext}${prefix}rplidar_s3_sensor">
 
-          <topic>${topic}</topic>
+          <topic>${namespace_ext}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -105,11 +113,9 @@
           <always_on>1</always_on>
           <visualize>false</visualize>
         </sensor>
-      </gazebo>
-      <gazebo>
-        <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-          <render_engine>ogre2</render_engine>
-        </plugin>
+        <ros>
+          <namespace>${namespace_ext}</namespace>
+        </ros>
       </gazebo>
     </xacro:if>
 

From 03902d25feac2ea36cd9a4f20a31ee84ee125095 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Thu, 11 Jan 2024 10:17:12 +0100
Subject: [PATCH 3/3] Tabs + ns

---
 urdf/orbbec_astra.urdf.xacro       | 10 +++++-----
 urdf/slamtec_rplidar_a2.urdf.xacro | 10 +++++-----
 urdf/slamtec_rplidar_a3.urdf.xacro | 10 +++++-----
 urdf/slamtec_rplidar_s1.urdf.xacro | 10 +++++-----
 urdf/slamtec_rplidar_s2.urdf.xacro | 10 +++++-----
 urdf/slamtec_rplidar_s3.urdf.xacro | 10 +++++-----
 6 files changed, 30 insertions(+), 30 deletions(-)

diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
index eb1ed39..f6f90f8 100644
--- a/urdf/orbbec_astra.urdf.xacro
+++ b/urdf/orbbec_astra.urdf.xacro
@@ -7,11 +7,11 @@
                        namespace:=None
                        simulation_engine:=gazebo-classic">
 
-      <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="namespace_ext" value="" />
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
     </xacro:if>
     <xacro:unless value="${namespace == 'None'}">
-        <xacro:property name="namespace_ext" value="${namespace}/" />
+      <xacro:property name="ns" value="${namespace}/" />
     </xacro:unless>
 
     <xacro:if value="${tf_prefix == 'None'}">
@@ -98,7 +98,7 @@
           <always_on>true</always_on>
           <update_rate>20.0</update_rate>
 
-          <topic>${namespace_ext}${camera_name}</topic>
+          <topic>${ns}${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 ${prefix}${camera_name}_color_optical_frame -->
           <ignition_frame_id>${prefix}${camera_name}_depth_optical_frame</ignition_frame_id>
@@ -116,7 +116,7 @@
             </clip>
           </camera>
           <ros>
-            <namespace>${namespace_ext}</namespace>
+            <namespace>${ns}</namespace>
           </ros>
         </sensor>
       </gazebo>
diff --git a/urdf/slamtec_rplidar_a2.urdf.xacro b/urdf/slamtec_rplidar_a2.urdf.xacro
index b55e132..0eb88fd 100644
--- a/urdf/slamtec_rplidar_a2.urdf.xacro
+++ b/urdf/slamtec_rplidar_a2.urdf.xacro
@@ -16,10 +16,10 @@
                        simulation_engine:=gazebo-classic">
 
     <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="namespace_ext" value="" />
+      <xacro:property name="ns" value="" />
     </xacro:if>
     <xacro:unless value="${namespace == 'None'}">
-        <xacro:property name="namespace_ext" value="${namespace}/" />
+      <xacro:property name="ns" value="${namespace}/" />
     </xacro:unless>
 
     <xacro:if value="${use_gpu}">
@@ -108,9 +108,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${namespace_ext}${prefix}rplidar_a2_sensor">
+        <sensor type="${ray_type}" name="${ns}${prefix}rplidar_a2_sensor">
 
-          <topic>${namespace_ext}${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -138,7 +138,7 @@
           <always_on>true</always_on>
           <visualize>false</visualize>
           <ros>
-            <namespace>${namespace_ext}</namespace>
+            <namespace>${ns}</namespace>
           </ros>
         </sensor>
       </gazebo>
diff --git a/urdf/slamtec_rplidar_a3.urdf.xacro b/urdf/slamtec_rplidar_a3.urdf.xacro
index e218f72..44a223f 100644
--- a/urdf/slamtec_rplidar_a3.urdf.xacro
+++ b/urdf/slamtec_rplidar_a3.urdf.xacro
@@ -11,10 +11,10 @@
 
 
     <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="namespace_ext" value="" />
+      <xacro:property name="ns" value="" />
     </xacro:if>
     <xacro:unless value="${namespace == 'None'}">
-        <xacro:property name="namespace_ext" value="${namespace}/" />
+      <xacro:property name="ns" value="${namespace}/" />
     </xacro:unless>
 
     <xacro:if value="${use_gpu}">
@@ -84,9 +84,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${namespace_ext}${prefix}rplidar_a3_sensor">
+        <sensor type="${ray_type}" name="${ns}${prefix}rplidar_a3_sensor">
 
-          <topic>${namespace_ext}${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -115,7 +115,7 @@
           <always_on>true</always_on>
           <visualize>false</visualize>
           <ros>
-            <namespace>${namespace_ext}</namespace>
+            <namespace>${ns}</namespace>
           </ros>
         </sensor>
       </gazebo>
diff --git a/urdf/slamtec_rplidar_s1.urdf.xacro b/urdf/slamtec_rplidar_s1.urdf.xacro
index 4dc75e0..b9a02b6 100644
--- a/urdf/slamtec_rplidar_s1.urdf.xacro
+++ b/urdf/slamtec_rplidar_s1.urdf.xacro
@@ -11,10 +11,10 @@
 
 
     <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="namespace_ext" value="" />
+      <xacro:property name="ns" value="" />
     </xacro:if>
     <xacro:unless value="${namespace == 'None'}">
-        <xacro:property name="namespace_ext" value="${namespace}/" />
+      <xacro:property name="ns" value="${namespace}/" />
     </xacro:unless>
 
     <xacro:if value="${use_gpu}">
@@ -92,9 +92,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${namespace_ext}${prefix}rplidar_s1_sensor">
+        <sensor type="${ray_type}" name="${ns}${prefix}rplidar_s1_sensor">
 
-          <topic>${namespace_ext}${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -122,7 +122,7 @@
           <always_on>1</always_on>
           <visualize>false</visualize>
           <ros>
-            <namespace>${namespace_ext}</namespace>
+            <namespace>${ns}</namespace>
           </ros>
         </sensor>
       </gazebo>
diff --git a/urdf/slamtec_rplidar_s2.urdf.xacro b/urdf/slamtec_rplidar_s2.urdf.xacro
index 1dbd1d7..adba748 100644
--- a/urdf/slamtec_rplidar_s2.urdf.xacro
+++ b/urdf/slamtec_rplidar_s2.urdf.xacro
@@ -10,10 +10,10 @@
                        simulation_engine:=gazebo-classic">
 
     <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="namespace_ext" value="" />
+      <xacro:property name="ns" value="" />
     </xacro:if>
     <xacro:unless value="${namespace == 'None'}">
-        <xacro:property name="namespace_ext" value="${namespace}/" />
+      <xacro:property name="ns" value="${namespace}/" />
     </xacro:unless>
 
     <xacro:if value="${use_gpu}">
@@ -83,9 +83,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${namespace_ext}${prefix}rplidar_s2_sensor">
+        <sensor type="${ray_type}" name="${ns}${prefix}rplidar_s2_sensor">
 
-          <topic>${namespace_ext}${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -113,7 +113,7 @@
           <always_on>1</always_on>
           <visualize>false</visualize>
           <ros>
-            <namespace>${namespace_ext}</namespace>
+            <namespace>${ns}</namespace>
           </ros>
         </sensor>
       </gazebo>
diff --git a/urdf/slamtec_rplidar_s3.urdf.xacro b/urdf/slamtec_rplidar_s3.urdf.xacro
index 058fbdb..a86d810 100644
--- a/urdf/slamtec_rplidar_s3.urdf.xacro
+++ b/urdf/slamtec_rplidar_s3.urdf.xacro
@@ -10,10 +10,10 @@
                        simulation_engine:=gazebo-classic">
 
     <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="namespace_ext" value="" />
+      <xacro:property name="ns" value="" />
     </xacro:if>
     <xacro:unless value="${namespace == 'None'}">
-        <xacro:property name="namespace_ext" value="${namespace}/" />
+      <xacro:property name="ns" value="${namespace}/" />
     </xacro:unless>
 
     <xacro:if value="${use_gpu}">
@@ -83,9 +83,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${namespace_ext}${prefix}rplidar_s3_sensor">
+        <sensor type="${ray_type}" name="${ns}${prefix}rplidar_s3_sensor">
 
-          <topic>${namespace_ext}${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -114,7 +114,7 @@
           <visualize>false</visualize>
         </sensor>
         <ros>
-          <namespace>${namespace_ext}</namespace>
+          <namespace>${ns}</namespace>
         </ros>
       </gazebo>
     </xacro:if>