Remove the axis_camera files, add a dependency on axis_description. A…

…dd a new meta-macro that uses the camera type
clearpathrobotics · Nov 14, 2024 · e3be1f6 · e3be1f6
1 parent ce2b511
commit e3be1f6
Show file tree

Hide file tree

Showing 8 changed files with 30 additions and 394 deletions.
diff --git a/clearpath_sensors_description/meshes/axis_dome.stl b/clearpath_sensors_description/meshes/axis_dome.stl
diff --git a/clearpath_sensors_description/meshes/axis_q62_base.stl b/clearpath_sensors_description/meshes/axis_q62_base.stl
diff --git a/clearpath_sensors_description/meshes/axis_q62_top.stl b/clearpath_sensors_description/meshes/axis_q62_top.stl
diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml
@@ -17,6 +17,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>axis_description</exec_depend>
   <exec_depend>microstrain_inertial_description</exec_depend>
   <exec_depend>realsense2_description</exec_depend>
   <exec_depend>velodyne_description</exec_depend>

diff --git a/clearpath_sensors_description/urdf/axis_camera.urdf.xacro b/clearpath_sensors_description/urdf/axis_camera.urdf.xacro
@@ -0,0 +1,29 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:include filename="$(find axis_description)/urdf/axis_dome_fixed.urdf.xacro"/>
+    <xacro:include filename="$(find axis_description)/urdf/axis_dome_ptz.urdf.xacro"/>
+    <xacro:include filename="$(find axis_description)/urdf/axis_q62.urdf.xacro"/>
+    <xacro:macro name="axis_camera" params="
+        name
+        parent_link
+        *origin
+        model:=dome_ptz
+        topic
+    ">
+        <xacro:if value="${model == 'dome_fixed'}">
+            <xacro:axis_dome_fixed prefix="${name}" parent="${parent_link}" topic="${topic}">
+                <xacro:insert_block name="origin" />
+            </xacro:axis_dome_fixed>
+        </xacro:if>
+        <xacro:if value="${model == 'dome_ptz'}">
+            <xacro:axis_dome_ptz prefix="${name}" parent="${parent_link}" topic="${topic}">
+                <xacro:insert_block name="origin" />
+            </xacro:axis_dome_ptz>
+        </xacro:if>
+        <xacro:if value="${model == 'q62'}">
+            <xacro:axis_q62 prefix="${name}" parent="${parent_link}" topic="${topic}">
+                <xacro:insert_block name="origin" />
+            </xacro:axis_q62>
+        </xacro:if>
+    </xacro:macro>
+</robot>
diff --git a/clearpath_sensors_description/urdf/axis_dome_fixed.urdf.xacro b/clearpath_sensors_description/urdf/axis_dome_fixed.urdf.xacro
diff --git a/clearpath_sensors_description/urdf/axis_dome_ptz.urdf.xacro b/clearpath_sensors_description/urdf/axis_dome_ptz.urdf.xacro