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 1/9] 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 2/9] 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 578d57405a8108681d7471afa4ff92919e318b10 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Mon, 15 Jan 2024 09:56:21 +0100
Subject: [PATCH 3/9] realsense | added namespaces | changed topic of depth

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 urdf/intel_realsense_d435.urdf.xacro | 22 ++++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/urdf/intel_realsense_d435.urdf.xacro b/urdf/intel_realsense_d435.urdf.xacro
index ca1e8ee..207db3b 100644
--- a/urdf/intel_realsense_d435.urdf.xacro
+++ b/urdf/intel_realsense_d435.urdf.xacro
@@ -24,8 +24,16 @@
             name:=camera
             topic:=camera
             use_nominal_extrinsics:=false
+            namespace:=None
             simulation_engine:=ignition-gazebo">
 
+    <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="prefix" value="" />
     </xacro:if>
@@ -176,11 +184,11 @@
       <!-- 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="${prefix}${name}_link">
-        <sensor type="camera" name="${prefix}${name}_color">
+        <sensor type="camera" name="$${namespace_ext}{prefix}${name}_color">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${topic}/color/image_raw</topic>
+          <topic>${namespace_ext}${topic}/color/image_raw</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_color_optical_frame</ignition_frame_id>
@@ -194,13 +202,16 @@
             <near>0.02</near>
             <far>300.0</far>
           </clip>
+          <ros>
+            <namespace>${namespace_ext}</namespace>
+          </ros>
         </sensor>
 
-        <sensor type="depth_camera" name="${prefix}${name}_depth">
+        <sensor type="depth_camera" name="${namespace_ext}${prefix}${name}_depth">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${topic}/depth</topic>
+          <topic>${namespace_ext}${topic}/depth/image_raw</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_depth_optical_frame</ignition_frame_id>
@@ -221,6 +232,9 @@
               <stddev>0.005</stddev>
             </noise>
           </camera>
+          <ros>
+            <namespace>${namespace_ext}</namespace>
+          </ros>
         </sensor>
       </gazebo>
     </xacro:if>

From 8188a436b5b7436f3a8defb68d684d4704c647f0 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Mon, 15 Jan 2024 11:35:03 +0100
Subject: [PATCH 4/9] intel | remapped topics from api

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 urdf/intel_realsense_d435.urdf.xacro | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/urdf/intel_realsense_d435.urdf.xacro b/urdf/intel_realsense_d435.urdf.xacro
index 207db3b..3ebd0ae 100644
--- a/urdf/intel_realsense_d435.urdf.xacro
+++ b/urdf/intel_realsense_d435.urdf.xacro
@@ -184,6 +184,7 @@
       <!-- 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="${prefix}${name}_link">
+        <!-- https://github.com/IntelRealSense/realsense-ros#published-topics -->
         <sensor type="camera" name="$${namespace_ext}{prefix}${name}_color">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
@@ -211,7 +212,7 @@
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${namespace_ext}${topic}/depth/image_raw</topic>
+          <topic>${namespace_ext}${topic}/depth/image_rect_raw</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_depth_optical_frame</ignition_frame_id>

From 6ce719714eab20c5b7b0086fd72d546918d48628 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Mon, 15 Jan 2024 11:55:54 +0100
Subject: [PATCH 5/9] changed astra plugin | changed names of sensors for astra
 and realsense

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 urdf/intel_realsense_d435.urdf.xacro | 16 +++++------
 urdf/orbbec_astra.urdf.xacro         | 43 +++++++++++++++++++++++-----
 2 files changed, 44 insertions(+), 15 deletions(-)

diff --git a/urdf/intel_realsense_d435.urdf.xacro b/urdf/intel_realsense_d435.urdf.xacro
index 3ebd0ae..743fe5a 100644
--- a/urdf/intel_realsense_d435.urdf.xacro
+++ b/urdf/intel_realsense_d435.urdf.xacro
@@ -28,10 +28,10 @@
             simulation_engine:=ignition-gazebo">
 
     <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="${tf_prefix == 'None'}">
@@ -185,11 +185,11 @@
         should be more accurate for D435 - different frames and fovs can be set -->
       <gazebo reference="${prefix}${name}_link">
         <!-- https://github.com/IntelRealSense/realsense-ros#published-topics -->
-        <sensor type="camera" name="$${namespace_ext}{prefix}${name}_color">
+        <sensor type="camera" name="${ns}{prefix}${name}_intel_realsense_d435_color">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${namespace_ext}${topic}/color/image_raw</topic>
+          <topic>${ns}${topic}/color/image_raw</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_color_optical_frame</ignition_frame_id>
@@ -204,15 +204,15 @@
             <far>300.0</far>
           </clip>
           <ros>
-            <namespace>${namespace_ext}</namespace>
+            <namespace>${ns}</namespace>
           </ros>
         </sensor>
 
-        <sensor type="depth_camera" name="${namespace_ext}${prefix}${name}_depth">
+        <sensor type="depth_camera" name="${ns}${prefix}${name}_intel_realsense_d435_depth">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${namespace_ext}${topic}/depth/image_rect_raw</topic>
+          <topic>${ns}${topic}/depth/image_rect_raw</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_depth_optical_frame</ignition_frame_id>
@@ -234,7 +234,7 @@
             </noise>
           </camera>
           <ros>
-            <namespace>${namespace_ext}</namespace>
+            <namespace>${ns}</namespace>
           </ros>
         </sensor>
       </gazebo>
diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
index f6f90f8..2927c44 100644
--- a/urdf/orbbec_astra.urdf.xacro
+++ b/urdf/orbbec_astra.urdf.xacro
@@ -94,16 +94,40 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${camera_name}_orbbec_astra_link">
-        <sensor type="rgbd_camera" name="${prefix}${camera_name}_orbbec_astra_camera">
+        <!-- https://github.com/orbbec/OrbbecSDK_ROS2#all-available-topics -->
+        <sensor type="camera" name="${ns}{prefix}${camera_name}_orbbec_astra_color">
           <always_on>true</always_on>
-          <update_rate>20.0</update_rate>
+          <update_rate>30.0</update_rate>
+
+          <topic>${ns}${camera_name}/color/image_raw</topic>
+          <visualize>false</visualize>
+
+          <ignition_frame_id>${prefix}${camera_name}_color_optical_frame</ignition_frame_id>
+          <horizontal_fov>${60.0/180.0*pi}</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+          </image>
+
+          <clip>
+            <near>0.6</near>
+            <far>8.0</far>
+          </clip>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
+        </sensor>
 
-          <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>
+        <sensor type="depth_camera" name="${ns}${prefix}${camera_name}_orbbec_astra_depth">
+          <always_on>true</always_on>
+          <update_rate>10.0</update_rate>
 
-          <camera name="${prefix}camera">
+
+          <topic>${ns}${camera_name}/depth/image_raw</topic>
+          <visualize>false</visualize>
+
+          <ignition_frame_id>${prefix}${camera_name}_depth_optical_frame</ignition_frame_id>
+          <camera>
             <horizontal_fov>${60.0/180.0*pi}</horizontal_fov>
             <image>
               <width>640</width>
@@ -114,6 +138,11 @@
               <near>0.6</near>
               <far>8.0</far>
             </clip>
+            <noise>
+              <type>gaussian</type>
+              <mean>0.0</mean>
+              <stddev>0.005</stddev>
+            </noise>
           </camera>
           <ros>
             <namespace>${ns}</namespace>

From c42e933acd26cd6014a9daf8767d5ed7e0200bed Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Mon, 15 Jan 2024 13:28:28 +0100
Subject: [PATCH 6/9] Added namespace to zed

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 urdf/stereolabs_zed.urdf.xacro | 22 ++++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/urdf/stereolabs_zed.urdf.xacro b/urdf/stereolabs_zed.urdf.xacro
index 288d81f..2c86b94 100644
--- a/urdf/stereolabs_zed.urdf.xacro
+++ b/urdf/stereolabs_zed.urdf.xacro
@@ -26,8 +26,16 @@
     name:=camera
     topic:=camera
     use_nominal_extrinsics:=false
+    namespace:=None
     simulation_engine:=ignition-gazebo">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${tf_prefix == 'None'}">
       <xacro:property name="prefix" value="" />
     </xacro:if>
@@ -183,11 +191,11 @@
       camera
         should be more accurate different frames and fovs can be set -->
       <gazebo reference="${prefix}${name}_center_optical_frame">
-        <sensor type="camera" name="${prefix}${name}_color">
+        <sensor type="camera" name="${ns}${prefix}${name}_stereolabs_zed_color">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${model}/zed_node/rgb/image_rect_color</topic>
+          <topic>${ns}${model}/zed_node/rgb/image_rect_color</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>
@@ -203,13 +211,16 @@
               <far>300.0</far>
             </clip>
           </camera>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
 
-        <sensor type="depth_camera" name="${prefix}${name}_depth">
+        <sensor type="depth_camera" name="${ns}${prefix}${name}_stereolabs_zed_depth">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${model}/zed_node/depth</topic>
+          <topic>${ns}${model}/zed_node/depth</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>
@@ -229,6 +240,9 @@
               <stddev>0.03</stddev>
             </noise>
           </camera>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
       </gazebo>
     </xacro:if>

From 8bccb40c0f0a6b977c03a8556bcce145cfe399f1 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Mon, 15 Jan 2024 13:45:20 +0100
Subject: [PATCH 7/9] Fixed <ros> tag in s3 | added namespace to velodyne puck

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 urdf/slamtec_rplidar_s3.urdf.xacro |  6 +++---
 urdf/velodyne_puck.urdf.xacro      | 20 +++++++++++++-------
 2 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/urdf/slamtec_rplidar_s3.urdf.xacro b/urdf/slamtec_rplidar_s3.urdf.xacro
index a86d810..92866c1 100644
--- a/urdf/slamtec_rplidar_s3.urdf.xacro
+++ b/urdf/slamtec_rplidar_s3.urdf.xacro
@@ -112,10 +112,10 @@
           </ray>
           <always_on>1</always_on>
           <visualize>false</visualize>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
-        <ros>
-          <namespace>${ns}</namespace>
-        </ros>
       </gazebo>
     </xacro:if>
 
diff --git a/urdf/velodyne_puck.urdf.xacro b/urdf/velodyne_puck.urdf.xacro
index e2a1f0a..a61c2e6 100644
--- a/urdf/velodyne_puck.urdf.xacro
+++ b/urdf/velodyne_puck.urdf.xacro
@@ -6,8 +6,16 @@
                        tf_prefix:=None
                        topic:=scan
                        frame_id:=velodyne
+                       namespace:=None
                        simulation_engine:=gazebo-classic">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:property name="ray_type" value="gpu_ray" />
       <xacro:property name="plugin_file_name" value="libgazebo_ros_velodyne_gpu_laser.so" />
@@ -64,7 +72,7 @@
     <link name="${prefix}${frame_id}" />
 
     <gazebo reference="${prefix}${frame_id}">
-      <sensor type="${ray_type}" name="${prefix}velodyne_puck_sensor">
+      <sensor type="${ray_type}" name="${ns}${prefix}velodyne_puck_sensor">
         <visualize>false</visualize>
         <update_rate>10.0</update_rate>
 
@@ -96,14 +104,10 @@
         </ray>
 
         <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
-          <topic>${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
           <always_on>true</always_on>
-          <plugin filename="libignition-gazebo-sensors-system.so"
-            name="ignition::gazebo::systems::Sensors">
-            <render_engine>ogre2</render_engine>
-          </plugin>
         </xacro:if>
 
         <xacro:if value="${simulation_engine == 'gazebo-classic'}">
@@ -117,7 +121,9 @@
             <frame_name>${prefix}${frame_id}</frame_name>
           </plugin>
         </xacro:if>
-
+        <ros>
+          <namespace>${ns}</namespace>
+        </ros>
       </sensor>
     </gazebo>
   </xacro:macro>

From 52c6c9e4bb46eaae0a4278d21b3239c7de4a44f7 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Mon, 29 Jan 2024 08:16:55 +0100
Subject: [PATCH 8/9] Use only zed as camera name

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 urdf/stereolabs_zed.urdf.xacro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/urdf/stereolabs_zed.urdf.xacro b/urdf/stereolabs_zed.urdf.xacro
index 2c86b94..be135f8 100644
--- a/urdf/stereolabs_zed.urdf.xacro
+++ b/urdf/stereolabs_zed.urdf.xacro
@@ -195,7 +195,7 @@
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${ns}${model}/zed_node/rgb/image_rect_color</topic>
+          <topic>${ns}zed/zed_node/rgb/image_rect_color</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>
@@ -220,7 +220,7 @@
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${ns}${model}/zed_node/depth</topic>
+          <topic>${ns}zed/zed_node/depth</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>

From 93fb219b4f9f588eb903dd175a119bcd1f2716ff Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Mon, 29 Jan 2024 12:09:35 +0100
Subject: [PATCH 9/9] Suggestions

---
 urdf/stereolabs_zed.urdf.xacro | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/urdf/stereolabs_zed.urdf.xacro b/urdf/stereolabs_zed.urdf.xacro
index be135f8..7971d70 100644
--- a/urdf/stereolabs_zed.urdf.xacro
+++ b/urdf/stereolabs_zed.urdf.xacro
@@ -22,11 +22,9 @@
   <xacro:macro name="zed_camera"
     params="parent_link xyz rpy
     model:=zed
+    namespace:=None
     tf_prefix:=None
     name:=camera
-    topic:=camera
-    use_nominal_extrinsics:=false
-    namespace:=None
     simulation_engine:=ignition-gazebo">
 
     <xacro:if value="${namespace == 'None'}">
@@ -93,10 +91,10 @@
     </xacro:if>
 
     <!-- Camera mounting point (the threaded screw hole in the bottom) -->
-    <link name="${prefix}${name}_link" />
+    <link name="${prefix}${name}_camera_link" />
     <joint name="${prefix}${name}_base_joint" type="fixed">
       <parent link="${parent_link}" />
-      <child link="${prefix}${name}_link" />
+      <child link="${prefix}${name}_camera_link" />
       <origin xyz="${xyz}" rpy="${rpy}" />
     </joint>
 
@@ -195,7 +193,7 @@
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${ns}zed/zed_node/rgb/image_rect_color</topic>
+          <topic>${ns}${prefix}${name}/zed_node/rgb/image_rect_color</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>
@@ -220,7 +218,7 @@
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${ns}zed/zed_node/depth</topic>
+          <topic>${ns}${prefix}${name}/zed_node/depth</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>