44 lines
1.3 KiB
XML
Executable File
44 lines
1.3 KiB
XML
Executable File
<?xml version="1.0"?>
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<!--
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spark 340
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Copyright 2016 NXROBO INTERNATIONAL (HONG KONG) LIMITED.
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http://www.nxrobo.com
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-->
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<robot name="spark" xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:arg name="camera_types" default="astrapro"/>
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<xacro:property name="camera" value="$(arg camera_types)"/>
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<xacro:arg name="lidar_type_tel" default="astrapro"/>
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<xacro:property name="lidar" value="$(arg lidar_type_tel)"/>
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<xacro:include filename="$(find spark_description)/urdf/base/spark_base.urdf"/>
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<xacro:include filename="$(find spark_description)/urdf/stack/spark_stack.urdf"/>
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<xacro:if value="${lidar == 'ydlidar_g2'}">
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<xacro:include filename="$(find ydlidar_g2)/urdf/ydlidar.urdf" />
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</xacro:if>
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<xacro:if value="${lidar == 'ydlidar_g6'}">
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<xacro:include filename="$(find ydlidar_g2)/urdf/ydlidar.urdf" />
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</xacro:if>
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<xacro:if value="${lidar == '3iroboticslidar2'}">
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<xacro:include filename="$(find spark_description)/urdf/sensors/spark_lidar.urdf"/>
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</xacro:if>
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<xacro:if value="${camera == 'astrapro' or camera == 'astra'}">
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<xacro:include filename="$(find spark_description)/urdf/sensors/spark_$(arg camera_types).urdf"/>
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</xacro:if>
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<xacro:if value="${camera == 'd435'}">
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<xacro:include filename="$(find spark_description)/urdf/sensors/spark_d435.urdf.xacro"/>
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</xacro:if>
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</robot>
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