noetic adapted

smarc_auvs/models/example_auv/launch/upload_example_auv.launch

@@ -8,18 +8,25 @@
   <arg name="pitch" default="0.0"/>
   <arg name="yaw" default="0.0"/>
 
+  <arg name="use_geodetic" default="false"/>
   <arg name="mode" default="default"/>
   <arg name="namespace" default="example_auv"/>
   <arg name="world_frame" default="world"/> <!-- This should actually be "/world". See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/324 -->
 
   <group ns="$(arg namespace)">
-    <param name="robot_description"
-           command="$(find xacro)/xacro.py '$(find smarc_auvs)/models/example_auv/robots/example_auv_$(arg mode).urdf.xacro' debug:=$(arg debug) namespace:=$(arg namespace)" />
 
+    <param name="robot_description"
+           command="$(find xacro)/xacro '$(find smarc_auvs)/models/example_auv/robots/example_auv_default.urdf.xacro' debug:=$(arg debug) namespace:=$(arg namespace)" />
+
     <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
-    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
-          args="-urdf -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -model $(arg namespace) -param /$(arg namespace)/robot_description"/>
-
+   <group if="$(arg use_geodetic)">
+      <node name="urdf_spawner" pkg="uuv_descriptions" type="spawn_model" respawn="false" output="screen"
+            args="-urdf -latitude $(arg latitude) -longitude $(arg longitude) -depth $(arg depth) -latitude_ref $(arg latitude_ref) -longitude_ref $(arg longitude_ref) -altitude_ref $(arg altitude_ref) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -model $(arg namespace) -param /$(arg namespace)/robot_description"/>
+    </group>
+    <group unless="$(arg use_geodetic)">
+      <node name="urdf_spawner" pkg="uuv_descriptions" type="spawn_model" respawn="false" output="screen"
+            args="-urdf -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -model $(arg namespace) -param /$(arg namespace)/robot_description"/>
+    </group>
     <!-- A joint state publisher plugin already is started with the model, no need to use the default joint state publisher -->
 
     <!-- Publish robot model for ROS -->

smarc_auvs/models/example_auv/urdf/example_auv_base.urdf.xacro

@@ -17,8 +17,8 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
   <!-- See  Hall, Anstee - Trim calculation methods for dynamical model of the REMUS 100 autonomous underwater vehicle -->
   <!-- Import macro files -->
-  <xacro:include filename="$(find uuv_descriptions)/models/common/urdf/common.urdf.xacro" />
-  <xacro:include filename="$(find uuv_sensor_plugins_ros)/urdf/sensor_snippets.xacro"/>
+  <xacro:include filename="$(find uuv_descriptions)/urdf/common.urdf.xacro" />
+  <xacro:include filename="$(find uuv_sensor_ros_plugins)/urdf/sensor_snippets.xacro"/>
   <xacro:include filename="$(find smarc_sensor_plugins_ros)/urdf/sonar_snippets.xacro"/>
 
   <!-- Properties -->