From 036e03d3e7832a4004717f5c625c57ccb0cdb0ca Mon Sep 17 00:00:00 2001
From: albers <Franz.Albers@tu-dortmund.de>
Date: Tue, 5 Jul 2022 20:26:42 +0200
Subject: [PATCH] Renamed lidar frames, Workaround for
 https://github.com/ros-drivers/ros2_ouster_drivers/issues/87

---
 .../config/sensor_kit_calibration.yaml        |  4 +--
 .../urdf/sensor_kit.xacro                     | 28 +++++++++----------
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/nissan_leaf_sensor_kit_description/config/sensor_kit_calibration.yaml b/nissan_leaf_sensor_kit_description/config/sensor_kit_calibration.yaml
index c295e53..137a929 100644
--- a/nissan_leaf_sensor_kit_description/config/sensor_kit_calibration.yaml
+++ b/nissan_leaf_sensor_kit_description/config/sensor_kit_calibration.yaml
@@ -1,12 +1,12 @@
 sensor_kit_base_link:
-  lidar_os1/sensor:
+  lidar_os1/base_link:
     x: 0.0
     y: 0.0
     z: 0.0
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-  lidar_os2/sensor:
+  lidar_os2/base_link:
     x: 0.0
     y: 0.0
     z: -0.135
diff --git a/nissan_leaf_sensor_kit_description/urdf/sensor_kit.xacro b/nissan_leaf_sensor_kit_description/urdf/sensor_kit.xacro
index 5db69b9..ce4d628 100644
--- a/nissan_leaf_sensor_kit_description/urdf/sensor_kit.xacro
+++ b/nissan_leaf_sensor_kit_description/urdf/sensor_kit.xacro
@@ -26,24 +26,24 @@
     <xacro:property name="calibration" value="${load_yaml('$(arg config_dir)/sensor_kit_calibration.yaml')}"/>
 
     <!-- lidar -->
-    <xacro:OS1-64 parent="sensor_kit_base_link" name="lidar_os1/sensor" topic_points="/points" hz="10" samples="220">
+    <xacro:OS1-64 parent="sensor_kit_base_link" name="lidar_os1/base_link" topic_points="/points" hz="10" samples="220">
       <origin
-        xyz="${calibration['sensor_kit_base_link']['lidar_os1/sensor']['x']}
-             ${calibration['sensor_kit_base_link']['lidar_os1/sensor']['y']}
-             ${calibration['sensor_kit_base_link']['lidar_os1/sensor']['z']}"
-        rpy="${calibration['sensor_kit_base_link']['lidar_os1/sensor']['roll']}
-             ${calibration['sensor_kit_base_link']['lidar_os1/sensor']['pitch']}
-             ${calibration['sensor_kit_base_link']['lidar_os1/sensor']['yaw']}"
+        xyz="${calibration['sensor_kit_base_link']['lidar_os1/base_link']['x']}
+             ${calibration['sensor_kit_base_link']['lidar_os1/base_link']['y']}
+             ${calibration['sensor_kit_base_link']['lidar_os1/base_link']['z']}"
+        rpy="${calibration['sensor_kit_base_link']['lidar_os1/base_link']['roll']}
+             ${calibration['sensor_kit_base_link']['lidar_os1/base_link']['pitch']}
+             ${calibration['sensor_kit_base_link']['lidar_os1/base_link']['yaw']}"
       />
     </xacro:OS1-64>
-    <xacro:OS2-64 parent="sensor_kit_base_link" name="lidar_os2/sensor" topic_points="/points" hz="10" samples="220">
+    <xacro:OS2-64 parent="sensor_kit_base_link" name="lidar_os2/base_link" topic_points="/points" hz="10" samples="220">
       <origin
-        xyz="${calibration['sensor_kit_base_link']['lidar_os2/sensor']['x']}
-             ${calibration['sensor_kit_base_link']['lidar_os2/sensor']['y']}
-             ${calibration['sensor_kit_base_link']['lidar_os2/sensor']['z']}"
-        rpy="${calibration['sensor_kit_base_link']['lidar_os2/sensor']['roll']}
-             ${calibration['sensor_kit_base_link']['lidar_os2/sensor']['pitch']}
-             ${calibration['sensor_kit_base_link']['lidar_os2/sensor']['yaw']}"
+        xyz="${calibration['sensor_kit_base_link']['lidar_os2/base_link']['x']}
+             ${calibration['sensor_kit_base_link']['lidar_os2/base_link']['y']}
+             ${calibration['sensor_kit_base_link']['lidar_os2/base_link']['z']}"
+        rpy="${calibration['sensor_kit_base_link']['lidar_os2/base_link']['roll']}
+             ${calibration['sensor_kit_base_link']['lidar_os2/base_link']['pitch']}
+             ${calibration['sensor_kit_base_link']['lidar_os2/base_link']['yaw']}"
       />
     </xacro:OS2-64>