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Fix nomenclature for URDF in all sensors for the variable conditional enable_inertial
1 parent 7a9a45e commit 0546065

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52 files changed

+71
-71
lines changed

‎urdf/a21_ultrasonic_sensor.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,7 @@
2626
</geometry>
2727
</visual>
2828

29-
<xacro:if value="$(include_inertial)">
29+
<xacro:if value="${include_inertial}">
3030
<inertial>
3131
<origin xyz="0.0 0 0.035" rpy="0 0 0" />
3232
<mass value="0.130" />

‎urdf/gps.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@
1212
<child link="${prefix}_base_link"/>
1313
</joint>
1414
<link name="${prefix}_base_link">
15-
<xacro:if value="$(include_inertial)">
15+
<xacro:if value="${include_inertial}">
1616
<inertial>
1717
<origin xyz="0.0 0 0.015" rpy="0 0 0" />
1818
<mass value="0.2" />

‎urdf/gps_with_mast.urdf.xacro

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -16,7 +16,7 @@
1616
</joint>
1717

1818
<link name="${prefix}_mast_base_link">
19-
<xacro:if value="$(include_inertial)">
19+
<xacro:if value="${include_inertial}">
2020
<inertial>
2121
<origin xyz="0.0 0 0.0" rpy="0 0 0" />
2222
<mass value="1.0" />
@@ -54,7 +54,7 @@
5454

5555
<!-- ANTENNA GPS -->
5656
<link name="${prefix}_base_link">
57-
<xacro:if value="$(include_inertial)">
57+
<xacro:if value="${include_inertial}">
5858
<inertial>
5959
<origin xyz="0.0 0 0.015" rpy="0 0 0" />
6060
<mass value="0.2" />

‎urdf/hokuyo3d.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
2323
<mesh filename="package://robotnik_sensors/meshes/hokuyo3d.stl"/>
2424
</geometry>
2525
</visual>
26-
<xacro:if value="$(include_inertial)">
26+
<xacro:if value="${include_inertial}">
2727
<inertial>
2828
<mass value="0.65" />
2929
<origin xyz="0.0475 0.0 0.053" rpy="0 0 0"/>

‎urdf/hokuyo_uam05lp.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,7 @@
1818
<mesh filename="package://robotnik_sensors/meshes/hokuyo_uam05lp.dae"/>
1919
</geometry>
2020
</visual>
21-
<xacro:if value="$(include_inertial)">
21+
<xacro:if value="${include_inertial}">
2222
<inertial>
2323
<origin xyz="0.0 0 0.035" rpy="0 0 0" />
2424
<mass value="0.8" />

‎urdf/hokuyo_urg04lx.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@
2222
<mesh filename="package://robotnik_sensors/meshes/hokuyo_urg_04lx.dae"/>
2323
</geometry>
2424
</visual>
25-
<xacro:if value="$(include_inertial)">
25+
<xacro:if value="${include_inertial}">
2626
<inertial>
2727
<origin xyz="0.0 0 0.035" rpy="0 0 0" />
2828
<mass value="0.160" />

‎urdf/hokuyo_ust10lx.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
2323
<mesh filename="package://robotnik_sensors/meshes/hokuyo_ust_10lx.dae"/>
2424
</geometry>
2525
</visual>
26-
<xacro:if value="$(include_inertial)">
26+
<xacro:if value="${include_inertial}">
2727
<inertial>
2828
<origin xyz="0.0 0 0.035" rpy="0 0 0" />
2929
<mass value="0.130" />

‎urdf/hokuyo_ust20lx.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,7 @@
2525
<mesh filename="package://robotnik_sensors/meshes/hokuyo_ust_20lx.dae"/>
2626
</geometry>
2727
</visual>
28-
<xacro:if value="$(include_inertial)">
28+
<xacro:if value="${include_inertial}">
2929
<inertial>
3030
<origin xyz="0.0 0 0.035" rpy="0 0 0" />
3131
<mass value="0.130" />

‎urdf/hokuyo_ust30lx.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,7 @@
2525
<mesh filename="package://robotnik_sensors/meshes/hokuyo_ust_30lx.stl"/>
2626
</geometry>
2727
</visual>
28-
<xacro:if value="$(include_inertial)">
28+
<xacro:if value="${include_inertial}">
2929
<inertial>
3030
<origin xyz="0.0 0 0.035" rpy="0 0 0" />
3131
<mass value="0.130" />

‎urdf/hokuyo_utm30lx.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
2323
</geometry>
2424
</visual>
2525

26-
<xacro:if value="$(include_inertial)">
26+
<xacro:if value="${include_inertial}">
2727
<inertial>
2828
<origin xyz="0.0 0 0.0435" rpy="0 0 0" />
2929
<mass value="0.370" />

‎urdf/imu.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@
1212
</joint>
1313

1414
<link name="${prefix}_link">
15-
<xacro:if value="$(include_inertial)">
15+
<xacro:if value="${include_inertial}">
1616
<inertial>
1717
<origin xyz="0.0 0 0.01" rpy="0 0 0" />
1818
<mass value="0.005" />

‎urdf/imu_hector_plugin.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@
1212
</joint>
1313

1414
<link name="${prefix}_link">
15-
<xacro:if value="$(include_inertial)">
15+
<xacro:if value="${include_inertial}">
1616
<inertial>
1717
<origin xyz="0.0 0 0.01" rpy="0 0 0" />
1818
<mass value="0.05" />

‎urdf/intel_d435.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -63,7 +63,7 @@ Copyright(c) 2020 Robotnik Automation. All Rights Reserved
6363
<box size="${d435_cam_depth} ${d435_cam_width} ${d435_cam_height}"/>
6464
</geometry>
6565
</collision>
66-
<xacro:if value="$(include_inertial)">
66+
<xacro:if value="${include_inertial}">
6767
<inertial>
6868
<origin xyz="0.0025 -0.015 0.0" rpy="0 0 0" />
6969
<mass value="0.1" />

‎urdf/intel_d455.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -71,7 +71,7 @@ aluminum peripherial evaluation case.
7171
<box size="${d455_cam_depth} ${d455_cam_width} ${d455_cam_height}"/>
7272
</geometry>
7373
</collision>
74-
<xacro:if value="$(include_inertial)">
74+
<xacro:if value="${include_inertial}">
7575
<inertial>
7676
<!-- The following are not reliable values, and should not be used for modeling -->
7777
<mass value="0.072" />

‎urdf/intel_r430.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -50,7 +50,7 @@
5050
<box size="${r430_cam_depth} ${r430_cam_width} ${r430_cam_height}"/>
5151
</geometry>
5252
</collision>
53-
<xacro:if value="$(include_inertial)">
53+
<xacro:if value="${include_inertial}">
5454
<inertial>
5555
<origin xyz="-0.0125 0.0 0.0" rpy="0 0 0" />
5656
<mass value="0.1" />

‎urdf/kinect.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -46,7 +46,7 @@
4646
<box size="0.07271 0.27794 0.073"/>
4747
</geometry>
4848
</collision>
49-
<xacro:if value="$(include_inertial)">
49+
<xacro:if value="${include_inertial}">
5050
<inertial>
5151
<origin xyz="-0.0 0.0 0.015" rpy="0 0 0" />
5252
<mass value="0.2" />

‎urdf/kinectv2.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -68,7 +68,7 @@
6868
</geometry>
6969
</xacro:unless>
7070
</collision>
71-
<xacro:if value="$(include_inertial)">
71+
<xacro:if value="${include_inertial}">
7272
<inertial>
7373
<origin xyz="-0.0 0.0 0.025" rpy="0 0 0" />
7474
<mass value="0.2" />

‎urdf/lidar_m10_p.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -24,7 +24,7 @@
2424
<mesh filename="package://robotnik_sensors/meshes/lidar_m10_p.STL" />
2525
</geometry>
2626
</visual>
27-
<xacro:if value="$(include_inertial)">
27+
<xacro:if value="${include_inertial}">
2828
<inertial>
2929
<mass value="0.190" />
3030
<origin xyz="0.01 0 0.028" rpy="0 0 0"/>

‎urdf/link_750_nh.urdf.xacro

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -16,7 +16,7 @@
1616
<child link="${prefix}_base_link"/>
1717
</joint>
1818
<link name="${prefix}_base_link">
19-
<xacro:if value="$(include_inertial)">
19+
<xacro:if value="${include_inertial}">
2020
<inertial>
2121
<origin xyz="0.066 0 0" rpy="0 0 0"/>
2222
<mass value="0.8"/>
@@ -50,7 +50,7 @@
5050
<joint_properties damping="${ptz_joint_damping}" friction="{ptz_joint_friction}"/>
5151
</joint>
5252
<link name="${prefix}_pan_link">
53-
<xacro:if value="$(include_inertial)">
53+
<xacro:if value="${include_inertial}">
5454
<inertial>
5555
<mass value="0.1"/>
5656
<origin xyz="0 0 0" rpy="0 0 0"/>
@@ -93,7 +93,7 @@
9393
<joint_properties damping="${ptz_joint_damping}" friction="{ptz_joint_friction}"/>
9494
</joint>
9595
<link name="${prefix}_tilt_link">
96-
<xacro:if value="$(include_inertial)">
96+
<xacro:if value="${include_inertial}">
9797
<inertial>
9898
<mass value="0.1"/>
9999
<origin xyz="0 0 0" rpy="0 0 0"/>
@@ -133,7 +133,7 @@
133133
<child link="${prefix}_frame_link"/>
134134
</joint>
135135
<link name="${prefix}_frame_link">
136-
<xacro:if value="$(include_inertial)">
136+
<xacro:if value="${include_inertial}">
137137
<inertial>
138138
<mass value="0.1"/>
139139
<origin xyz="0 0 0"/>
@@ -148,7 +148,7 @@
148148
<child link="${prefix}_optical_frame_link"/>
149149
</joint>
150150
<link name="${prefix}_optical_frame_link">
151-
<xacro:if value="$(include_inertial)">
151+
<xacro:if value="${include_inertial}">
152152
<inertial>
153153
<mass value="0.1"/>
154154
<origin xyz="0 0 0"/>

‎urdf/oak_d_pro_poe.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -58,7 +58,7 @@ Copyright(c) 2020 Robotnik Automation. All Rights Reserved
5858
<box size="${oak_cam_depth} ${oak_cam_width} ${oak_cam_height}"/> <!--Check-->
5959
</geometry>
6060
</collision>
61-
<xacro:if value="$(include_inertial)">
61+
<xacro:if value="${include_inertial}">
6262
<inertial>
6363
<origin xyz="0.0025 -0.015 0.0" rpy="0 0 0" />
6464
<mass value="0.1" />

‎urdf/onrobot_eyes.urdf.xacro

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@
2121
<mesh filename="package://robotnik_sensors/meshes/onrobot_eyes_mount.stl"/>
2222
</geometry>
2323
</collision>
24-
<xacro:if value="$(include_inertial)">
24+
<xacro:if value="${include_inertial}">
2525
<inertial>
2626
<mass value="0.001" />
2727
<origin xyz="0.0 0.0 0.0" />
@@ -48,7 +48,7 @@
4848
<mesh filename="package://robotnik_sensors/meshes/onrobot_eyes_light.stl"/>
4949
</geometry>
5050
</collision>
51-
<xacro:if value="$(include_inertial)">
51+
<xacro:if value="${include_inertial}">
5252
<inertial>
5353
<mass value="0.001" />
5454
<origin xyz="0.0 0.0 0.0" />

‎urdf/orbbec_astra.urdf.xacro

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@
2121
<mesh filename="package://robotnik_sensors/meshes/orbbec_astra.dae"/>
2222
</geometry>
2323
</collision>
24-
<xacro:if value="$(include_inertial)">
24+
<xacro:if value="${include_inertial}">
2525
<inertial>
2626
<mass value="0.001" />
2727
<origin xyz="0.0 0.0 0.0" />
@@ -37,7 +37,7 @@
3737
</joint>
3838

3939
<link name="${prefix}_rgb_frame">
40-
<xacro:if value="$(include_inertial)">
40+
<xacro:if value="${include_inertial}">
4141
<inertial>
4242
<mass value="0.297" />
4343
<origin xyz="-0.02 -0.0125 0.0" />
@@ -53,7 +53,7 @@
5353
</joint>
5454

5555
<link name="${prefix}_rgb_optical_frame">
56-
<xacro:if value="$(include_inertial)">
56+
<xacro:if value="${include_inertial}">
5757
<inertial>
5858
<mass value="0.001" />
5959
<origin xyz="0 0 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
@@ -69,7 +69,7 @@
6969
</joint>
7070

7171
<link name="${prefix}_depth_frame">
72-
<xacro:if value="$(include_inertial)">
72+
<xacro:if value="${include_inertial}">
7373
<inertial>
7474
<mass value="0.001" />
7575
<origin xyz="0 0 0" />
@@ -85,7 +85,7 @@
8585
</joint>
8686

8787
<link name="${prefix}_depth_optical_frame">
88-
<xacro:if value="$(include_inertial)">
88+
<xacro:if value="${include_inertial}">
8989
<inertial>
9090
<mass value="0.001" />
9191
<origin xyz="0 0 0" />

‎urdf/orbbec_astra_pro.urdf.xacro

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@
2121
<mesh filename="package://robotnik_sensors/meshes/orbbec_astra.dae"/>
2222
</geometry>
2323
</collision>
24-
<xacro:if value="$(include_inertial)">
24+
<xacro:if value="${include_inertial}">
2525
<inertial>
2626
<mass value="0.001" />
2727
<origin xyz="0.0 0.0 0.0" />
@@ -37,7 +37,7 @@
3737
</joint>
3838

3939
<link name="${prefix}_color_frame">
40-
<xacro:if value="$(include_inertial)">
40+
<xacro:if value="${include_inertial}">
4141
<inertial>
4242
<mass value="0.297" />
4343
<origin xyz="-0.02 -0.0125 0.0" />
@@ -53,7 +53,7 @@
5353
</joint>
5454

5555
<link name="${prefix}_color_optical_frame">
56-
<xacro:if value="$(include_inertial)">
56+
<xacro:if value="${include_inertial}">
5757
<inertial>
5858
<mass value="0.001" />
5959
<origin xyz="0 0 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
@@ -69,7 +69,7 @@
6969
</joint>
7070

7171
<link name="${prefix}_depth_frame">
72-
<xacro:if value="$(include_inertial)">
72+
<xacro:if value="${include_inertial}">
7373
<inertial>
7474
<mass value="0.001" />
7575
<origin xyz="0 0 0" />
@@ -85,7 +85,7 @@
8585
</joint>
8686

8787
<link name="${prefix}_depth_optical_frame">
88-
<xacro:if value="$(include_inertial)">
88+
<xacro:if value="${include_inertial}">
8989
<inertial>
9090
<mass value="0.001" />
9191
<origin xyz="0 0 0" />

‎urdf/ouster1.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -26,7 +26,7 @@
2626
<mesh filename="package://robotnik_sensors/meshes/lidar3d_os1.stl"/>
2727
</geometry>
2828
</collision>
29-
<xacro:if value="$(include_inertial)">
29+
<xacro:if value="${include_inertial}">
3030
<inertial>
3131
<origin xyz="-0.0 0.0 0.029" rpy="0 0 0" />
3232
<mass value="3.5" />

‎urdf/pantilt.urdf.xacro

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -15,7 +15,7 @@
1515
</joint>
1616

1717
<link name="${prefix}_base_link">
18-
<xacro:if value="$(include_inertial)">
18+
<xacro:if value="${include_inertial}">
1919
<inertial>
2020
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
2121
<mass value="0.1"/>
@@ -51,7 +51,7 @@
5151
</joint>
5252

5353
<link name="pan_link">
54-
<xacro:if value="$(include_inertial)">
54+
<xacro:if value="${include_inertial}">
5555
<inertial>
5656
<mass value="0.1"/>
5757
<origin xyz="0 0 0" rpy="0 0 0"/>
@@ -81,7 +81,7 @@
8181
</joint>
8282

8383
<link name="tilt_link">
84-
<xacro:if value="$(include_inertial)">
84+
<xacro:if value="${include_inertial}">
8585
<inertial>
8686
<mass value="0.1"/>
8787
<origin xyz="0 0 0" rpy="0 0 0"/>

‎urdf/pilz_psen_scan.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -41,7 +41,7 @@
4141
<!--cylinder radius="${radius}" length="${height}" /-->
4242
</geometry>
4343
</collision>
44-
<xacro:if value="$(include_inertial)">
44+
<xacro:if value="${include_inertial}">
4545
<inertial>
4646
<mass value="${mass}" />
4747
<origin xyz="0 0 0" />

‎urdf/pointgrey_bumblebee2.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -78,7 +78,7 @@
7878
<box size="0.04740 0.157 0.036"/>
7979
</geometry>
8080
</collision>
81-
<xacro:if value="$(include_inertial)">
81+
<xacro:if value="${include_inertial}">
8282
<inertial>
8383
<origin xyz="-0.0 0.0 0.0" rpy="0 0 0" />
8484
<mass value="2.0" />

‎urdf/roboteq_mgs.urdf.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@
1010
</joint>
1111

1212
<link name="${prefix}_base_link">
13-
<xacro:if value="$(include_inertial)">
13+
<xacro:if value="${include_inertial}">
1414
<inertial>
1515
<mass value="0.255" />
1616
<origin xyz="0 0 0" />

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