From 9413e8a39c584dd6554bdcfa395e133fbbdf8784 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Wed, 29 May 2024 08:57:11 +0200
Subject: [PATCH] Suggestion and namespace fix

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 launch/gz_components.launch.py |  2 +-
 urdf/components.urdf.xacro     | 96 +++++-----------------------------
 2 files changed, 14 insertions(+), 84 deletions(-)

diff --git a/launch/gz_components.launch.py b/launch/gz_components.launch.py
index 2df0a96..5089692 100644
--- a/launch/gz_components.launch.py
+++ b/launch/gz_components.launch.py
@@ -41,7 +41,7 @@ def get_launch_description(name: str, package: str, namespace: str, component: y
     device_namespace = get_value(component, "device_namespace")
     robot_namespace = namespace
 
-    if not name.find("ur3") and not name.find("kinova"):
+    if  "ur3" not in name and "kinova" not in name and "robotiq" not in name:
         if len(robot_namespace) and robot_namespace[0] != "/":
             robot_namespace = "/" + robot_namespace
         if len(device_namespace) and device_namespace[0] != "/":
diff --git a/urdf/components.urdf.xacro b/urdf/components.urdf.xacro
index 9e579f1..6751723 100644
--- a/urdf/components.urdf.xacro
+++ b/urdf/components.urdf.xacro
@@ -25,7 +25,8 @@
       <xacro:property name="parent_link" value="${component['parent_link']}" scope="parent" />
       <xacro:property name="xyz" value="${component['xyz']}" scope="parent" />
       <xacro:property name="rpy" value="${component['rpy']}" scope="parent" />
-      <xacro:property name="device_namespace" value="${component['device_namespace']}" scope="parent" />
+      <xacro:property name="device_namespace" value="${component['device_namespace']}"
+        scope="parent" />
 
       <xacro:if value="${type == 'CAM01'}">
         <xacro:include
@@ -71,99 +72,28 @@
         />
       </xacro:if>
 
-      <xacro:if value="${type == 'LDR10'}">
-        <xacro:include
-          filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
-          ns="lidar"
-        />
-
-        <xacro:lidar.ouster
-          parent_link="${parent_link}"
-          xyz="${xyz}"
-          rpy="${rpy}"
-          namespace="${robot_namespace}"
-          device_namespace="${device_namespace}"
-          model="os0_32"
-        />
-      </xacro:if>
-
-      <xacro:if value="${type == 'LDR11'}">
-        <xacro:include
-          filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
-          ns="lidar"
-        />
-
-        <xacro:lidar.ouster
-          parent_link="${parent_link}"
-          xyz="${xyz}"
-          rpy="${rpy}"
-          namespace="${robot_namespace}"
-          device_namespace="${device_namespace}"
-          model="os0_64"
-        />
-      </xacro:if>
-
-      <xacro:if value="${type == 'LDR12'}">
-        <xacro:include
-          filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
-          ns="lidar"
-        />
-
-        <xacro:lidar.ouster
-          parent_link="${parent_link}"
-          xyz="${xyz}"
-          rpy="${rpy}"
-          namespace="${robot_namespace}"
-          device_namespace="${device_namespace}"
-          model="os0_128"
-        />
-      </xacro:if>
+      <xacro:property name="ouster_models_dict"
+        value="${dict ([
+        ('LDR10', 'os0_32'),
+        ('LDR11', 'os0_64'),
+        ('LDR12', 'os0_128'),
+        ('LDR13', 'os1_32'),
+        ('LDR14', 'os1_64'),
+        ('LDR15', 'os1_128')
+      ])}" />
 
-      <xacro:if value="${type == 'LDR13'}">
+      <xacro:if value="${type in ouster_models_dict}">
         <xacro:include
           filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
           ns="lidar"
         />
-
-        <xacro:lidar.ouster
-          parent_link="${parent_link}"
-          xyz="${xyz}"
-          rpy="${rpy}"
-          namespace="${robot_namespace}"
-          device_namespace="${device_namespace}"
-          model="os1_32"
-        />
-      </xacro:if>
-
-      <xacro:if value="${type == 'LDR14'}">
-        <xacro:include
-          filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
-          ns="lidar"
-        />
-
-        <xacro:lidar.ouster
-          parent_link="${parent_link}"
-          xyz="${xyz}"
-          rpy="${rpy}"
-          namespace="${robot_namespace}"
-          device_namespace="${device_namespace}"
-          model="os1_64"
-        />
-      </xacro:if>
-
-      <xacro:if value="${type == 'LDR15'}">
-        <xacro:include
-          filename="$(find ros_components_description)/urdf/ouster.urdf.xacro"
-          ns="lidar"
-        />
-
         <xacro:lidar.ouster
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
           namespace="${robot_namespace}"
           device_namespace="${device_namespace}"
-          model="os1_128"
+          model="${ouster_models_dict[type]}"
         />
       </xacro:if>