From 52940d712d16ccbf2d20689593ee5a5da295640b Mon Sep 17 00:00:00 2001
From: Yosuke Yamamoto <yamamoto.yosuke@gmail.com>
Date: Mon, 13 Jul 2020 15:47:52 +0900
Subject: [PATCH] mod nextage_calibration dependencies with openni_description
 that is changed from turtlebot_descriptions.

---
 .../launch/gazebo_kinect_checkerboard_chest.launch          | 4 ++--
 .../launch/gazebo_kinect_checkerboard_waist.launch          | 4 ++--
 nextage_calibration/models/sensor_kinect.xacro              | 6 ++++--
 nextage_calibration/package.xml                             | 4 +++-
 4 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/nextage_calibration/launch/gazebo_kinect_checkerboard_chest.launch b/nextage_calibration/launch/gazebo_kinect_checkerboard_chest.launch
index 47e764e0..b336f182 100644
--- a/nextage_calibration/launch/gazebo_kinect_checkerboard_chest.launch
+++ b/nextage_calibration/launch/gazebo_kinect_checkerboard_chest.launch
@@ -9,7 +9,7 @@
         name="spawn_sensor_kinect"
         type="spawn_model" 
         args="-urdf -param sensor_description -model sensor_kinect
-              -reference_frame HEAD_JOINT1_Link -P 1.5708 -x -0.15 -z 0.05"
+              -reference_frame HEAD_JOINT1_Link -P 1.5708 -x 0.15 -z 0.15"
         />
 
   <node pkg="robot_state_publisher"
@@ -27,6 +27,6 @@
   <node name="spawn_checkerboard_chest" pkg="gazebo_ros" type="spawn_model"
         args="-file $(find nextage_calibration)/models/checkerboard_horizontal.urdf
         -urdf -model checkerboard_horizontal
-        -reference_frame WAIST -wait" />
+        -reference_frame WAIST" />
 
 </launch>
diff --git a/nextage_calibration/launch/gazebo_kinect_checkerboard_waist.launch b/nextage_calibration/launch/gazebo_kinect_checkerboard_waist.launch
index 504f87b1..2983343f 100644
--- a/nextage_calibration/launch/gazebo_kinect_checkerboard_waist.launch
+++ b/nextage_calibration/launch/gazebo_kinect_checkerboard_waist.launch
@@ -9,7 +9,7 @@
         name="spawn_sensor_kinect"
         type="spawn_model" 
         args="-urdf -param sensor_description -model sensor_kinect
-              -reference_frame HEAD_JOINT1_Link -P 1.5708 -x -0.15 -z 0.05"
+              -reference_frame HEAD_JOINT1_Link -P 1.5708 -x 0.15 -z 0.15"
         />
 
   <node pkg="robot_state_publisher"
@@ -27,6 +27,6 @@
   <node name="spawn_checkerboard_waist" pkg="gazebo_ros" type="spawn_model"
         args="-file $(find nextage_calibration)/models/checkerboard_waist.urdf
         -urdf -model checkerboard_waist
-        -reference_frame WAIST -wait" />
+        -reference_frame WAIST" />
 
 </launch>
diff --git a/nextage_calibration/models/sensor_kinect.xacro b/nextage_calibration/models/sensor_kinect.xacro
index cde2b724..4db2a671 100644
--- a/nextage_calibration/models/sensor_kinect.xacro
+++ b/nextage_calibration/models/sensor_kinect.xacro
@@ -1,8 +1,10 @@
 <robot name="sensor_kinect" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:property name="M_PI" value="3.1415926535897931" /> 
-  <xacro:include filename="$(find turtlebot_description)/urdf/sensors/kinect.urdf.xacro" />
+  <xacro:include filename="$(find openni_description)/model/kinect.urdf.xacro" />
   <link name="camera_base_link" />
-  <xacro:sensor_kinect parent="camera_base_link" />
+  <xacro:sensor_kinect parent="camera_base_link" 
+                       cam_px="0.0" cam_py="0.0" cam_pz="0.0"
+                       cam_or="0.0" cam_op="0.0" cam_oy="0.0" />
   <gazebo>
     <static>true</static>
   </gazebo>
diff --git a/nextage_calibration/package.xml b/nextage_calibration/package.xml
index f6707642..e3e22d09 100644
--- a/nextage_calibration/package.xml
+++ b/nextage_calibration/package.xml
@@ -27,7 +27,9 @@
   <run_depend>openni2_launch</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>urdf</run_depend>
-  <run_depend>turtlebot_description</run_depend>  <!-- TODO This needs better solution https://github.com/tork-a/rtmros_nextage/issues/314 -->
+  <run_depend>openni_camera</run_depend>
+  <run_depend>openni_description</run_depend>
+  <run_depend>openni_launch</run_depend>
 
   <test_depend>nextage_gazebo</test_depend>