Rename extenal antena -> teltonika

husarion · Jun 10, 2024 · 906110a · 906110a
1 parent d1c427e
commit 906110a
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Showing 6 changed files with 100 additions and 11 deletions.
diff --git a/launch/gz_external_antenna.launch.py → launch/gz_antenna.launch.py b/launch/gz_external_antenna.launch.py → launch/gz_antenna.launch.py
diff --git a/launch/gz_components.launch.py b/launch/gz_components.launch.py
@@ -64,7 +64,7 @@ def get_launch_descriptions_from_yaml_node(
     actions = []
 
     components_types_with_names = {
-        "ANT02": "external_antenna",
+        "ANT02": "antenna",
         "LDR01": "slamtec_rplidar",
         "LDR06": "slamtec_rplidar",
         "LDR10": "ouster_os",

diff --git a/meshes/teltonika_003R-00253.dae b/meshes/teltonika_003R-00253.dae
diff --git a/meshes/teltonika_003R-00253_collision.stl b/meshes/teltonika_003R-00253_collision.stl
diff --git a/urdf/components.urdf.xacro b/urdf/components.urdf.xacro
@@ -30,10 +30,10 @@
 
       <xacro:if value="${type == 'ANT02'}">
         <xacro:include
-          filename="$(find ros_components_description)/urdf/external_antenna.urdf.xacro"
+          filename="$(find ros_components_description)/urdf/teltonika_003R-00253.urdf.xacro"
           ns="antenna" />
 
-        <xacro:antenna.external_antenna
+        <xacro:antenna.teltonika_003R-00253
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"

diff --git a/urdf/external_antenna.urdf.xacro → urdf/teltonika_003R-00253.urdf.xacro b/urdf/external_antenna.urdf.xacro → urdf/teltonika_003R-00253.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="external_antenna"
+    name="teltonika_003R-00253"
     params="parent_link xyz rpy
             namespace:=None
             device_namespace:=None
@@ -28,26 +28,26 @@
       <xacro:property name="prefix" value="${device_namespace}_" />
     </xacro:unless>
 
-    <joint name="${parent_link.rstrip('_link')}_to_${prefix}external_antenna_joint"
+    <joint name="${parent_link.rstrip('_link')}_to_${prefix}antenna_joint"
       type="fixed">
       <origin xyz="${xyz}" rpy="${rpy}" />
       <parent link="${parent_link}" />
-      <child link="${prefix}external_antenna_link" />
+      <child link="${prefix}antenna_link" />
     </joint>
 
-    <link name="${prefix}external_antenna_link">
+    <link name="${prefix}antenna_link">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="package://panther_description/meshes/components/external_antenna.dae" />
+          <mesh filename="package://ros_components_description/meshes/teltonika_003R-00253.dae" />
         </geometry>
       </visual>
 
       <collision>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
           <mesh
-            filename="package://panther_description/meshes/components/external_antenna_collision.stl" />
+            filename="package://ros_components_description/meshes/teltonika_003R-00253_collision.stl" />
         </geometry>
       </collision>
 
@@ -61,10 +61,10 @@
     </link>
 
     <joint
-      name="${prefix}external_antenna_to_${prefix}${frame_id.rstrip('_link')}_joint"
+      name="${prefix}antenna_to_${prefix}${frame_id.rstrip('_link')}_joint"
       type="fixed">
       <origin xyz="0.045 0.0 0.0058" rpy="0.0 0.0 0.0" />
-      <parent link="${prefix}external_antenna_link" />
+      <parent link="${prefix}antenna_link" />
       <child link="${prefix}${frame_id}" />
     </joint>