fixed astra

Signed-off-by: Jakub Delicat <[email protected]>
husarion · May 10, 2024 · e999c15 · e999c15
1 parent c54eaf9
commit e999c15
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/test/test_components_xacro.py b/test/test_components_xacro.py
@@ -30,7 +30,7 @@
     "LDR06": ["slamtec_rplidar_s3", "laser", "slamtec_rplidar_s3_sensor"],
     "LDR13": ["ouster_os1_32", "os_lidar", "ouster_os1_32_sensor"],
     "LDR20": ["velodyne_puck", "velodyne", "velodyne_puck_sensor"],
-    "CAM01": ["orbbec_astra", "orbbec_astra", "orbbec_astra_color"],
+    "CAM01": ["orbbec_astra", "link", "orbbec_astra_color"],
 }
 
 
@@ -135,5 +135,3 @@ def test_all_good_single_components(tmpdir_factory):
 
         for component in components["components"]:
             utils.test_component(component, [True, True, True], str(components_config_path))
-
-
diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
@@ -26,7 +26,7 @@
       <child link="${device_namespace}_orbbec_astra_link" />
     </joint>
 
-    <link name="${device_namespace}_orbbec_astra">
+    <link name="${device_namespace}_orbbec_astra_link">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
@@ -91,7 +91,7 @@
 
     <link name="${device_namespace}_color_optical_frame" />
 
-    <gazebo reference="${device_namespace}_orbbec_astra_link">
+    <gazebo reference="${device_namespace}_link">
       <!-- https://github.com/orbbec/OrbbecSDK_ROS2#all-available-topics -->
       <sensor type="camera" name="${ns}${device_namespace}_orbbec_astra_color">
         <always_on>true</always_on>