top urdf: xacro: Rename perception_kit to camera_kit

westonrobot · Aug 21, 2024 · 7a2a078 · 7a2a078
1 parent d1322bc
commit 7a2a078
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Showing 3 changed files with 15 additions and 15 deletions.
diff --git a/...ingup/meshes/perception_kit_base_link.stl → ...t_bringup/meshes/camera_kit_base_link.stl b/...ingup/meshes/perception_kit_base_link.stl → ...t_bringup/meshes/camera_kit_base_link.stl
diff --git a/src/kits/top/mid360_sensor_kit_bringup/urdf/sensor_kit.urdf.xacro b/src/kits/top/mid360_sensor_kit_bringup/urdf/sensor_kit.urdf.xacro
@@ -66,13 +66,13 @@
   <link name="livox_frame">
   </link>
 
-  <joint name="perception_kit_base_joint" type="fixed">
+  <joint name="camera_kit_base_joint" type="fixed">
     <origin xyz="0 0 0" rpy="0 0 0" />
     <parent link="top_sensor_kit_link" />
-    <child link="perception_kit_base_link" />
+    <child link="camera_kit_base_link" />
   </joint>
 
-  <link name="perception_kit_base_link">
+  <link name="camera_kit_base_link">
     <inertial>
       <origin xyz="0 0 -0.345" rpy="${M_PI/2} 0 ${M_PI/2}" />
       <mass value="0.0" />
@@ -82,7 +82,7 @@
       <origin xyz="0 0 -0.345" rpy="${M_PI/2} 0 ${M_PI/2}" />
       <geometry>
         <mesh
-          filename="package://mid360_sensor_kit_bringup/meshes/perception_kit_base_link.stl"
+          filename="package://mid360_sensor_kit_bringup/meshes/camera_kit_base_link.stl"
           scale="0.001 0.001 0.001" />
       </geometry>
       <material name="silver" />
@@ -91,26 +91,26 @@
       <origin xyz="0 0 -0.345" rpy="${M_PI/2} 0 ${M_PI/2}" />
       <geometry>
         <mesh
-          filename="package://mid360_sensor_kit_bringup/meshes/perception_kit_base_link.stl"
+          filename="package://mid360_sensor_kit_bringup/meshes/camera_kit_base_link.stl"
           scale="0.001 0.001 0.001" />
       </geometry>
     </collision>
   </link>
 
-  <xacro:perception_kit camera_pos="front" camera_type="$(arg front_camera)">
+  <xacro:camera_kit camera_pos="front" camera_type="$(arg front_camera)">
     <origin xyz="0.118 0 -0.025" rpy="0 0 0" />
-  </xacro:perception_kit>
+  </xacro:camera_kit>
 
-  <xacro:perception_kit camera_pos="rear" camera_type="$(arg rear_camera)">
+  <xacro:camera_kit camera_pos="rear" camera_type="$(arg rear_camera)">
     <origin xyz="-0.118 0 -0.025" rpy="0 0 ${M_PI}" />
-  </xacro:perception_kit>
+  </xacro:camera_kit>
 
-  <xacro:perception_kit camera_pos="left" camera_type="$(arg left_camera)">
+  <xacro:camera_kit camera_pos="left" camera_type="$(arg left_camera)">
     <origin xyz="0 0.083 -0.025" rpy="0 0 ${M_PI/2}" />
-  </xacro:perception_kit>
+  </xacro:camera_kit>
 
-  <xacro:perception_kit camera_pos="right" camera_type="$(arg right_camera)">
+  <xacro:camera_kit camera_pos="right" camera_type="$(arg right_camera)">
     <origin xyz="0 -0.083 -0.025" rpy="0 0 -${M_PI/2}" />
-  </xacro:perception_kit>
+  </xacro:camera_kit>
 
 </robot>
diff --git a/src/kits/top/mid360_sensor_kit_bringup/urdf/sensor_kit_macro.urdf.xacro b/src/kits/top/mid360_sensor_kit_bringup/urdf/sensor_kit_macro.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot name="mid360_sensor_kit" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="perception_kit" params="camera_pos camera_type *origin">
+  <xacro:macro name="camera_kit" params="camera_pos camera_type *origin">
 
     <xacro:arg name="use_nominal_extrinsics" default="false"/>
     <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
@@ -35,7 +35,7 @@
       </link>
 
       <joint name="${camera_pos}_camera_joint" type="fixed">
-        <parent link="perception_kit_base_link" />
+        <parent link="camera_kit_base_link" />
         <child link="${camera_pos}_camera_link" />
         <xacro:insert_block name="origin" />
       </joint>