From a2dab91a68206e7722f0045a679ed8673eb98064 Mon Sep 17 00:00:00 2001
From: archielee <archie_lee7@hotmail.com>
Date: Tue, 2 Feb 2016 10:11:48 -0500
Subject: [PATCH 1/3] Removed optenv conditions in upload_pr2.launch which are
 unnecessary

---
 pr2_description/robots/upload_pr2.launch | 10 +---------
 1 file changed, 1 insertion(+), 9 deletions(-)

diff --git a/pr2_description/robots/upload_pr2.launch b/pr2_description/robots/upload_pr2.launch
index 90a76ba..a0e0114 100644
--- a/pr2_description/robots/upload_pr2.launch
+++ b/pr2_description/robots/upload_pr2.launch
@@ -1,14 +1,6 @@
 <launch>
   <!-- send pr2 urdf to param server -->
-  <group if="$(optenv KINECT2)">
+  <group>
     <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro'" />
   </group>
-  <group unless="$(optenv KINECT2)">
-    <group if="$(optenv KINECT1)">
-      <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro'" />
-    </group>
-    <group unless="$(optenv KINECT1)">
-      <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2_no_kinect.urdf.xacro'" />
-    </group>
-  </group>
 </launch>

From 542a803b869ce9151a0c5847b175c87a29ec5c27 Mon Sep 17 00:00:00 2001
From: archielee <archie_lee7@hotmail.com>
Date: Tue, 2 Feb 2016 10:21:42 -0500
Subject: [PATCH 2/3] Added sanity checking in .xacro so no errors pop up if
 both KINECT2 and KINECT1 are set true

---
 pr2_description/robots/pr2.urdf.xacro | 44 ++++++++++++++-------------
 1 file changed, 23 insertions(+), 21 deletions(-)

diff --git a/pr2_description/robots/pr2.urdf.xacro b/pr2_description/robots/pr2.urdf.xacro
index 576955b..d686f0f 100644
--- a/pr2_description/robots/pr2.urdf.xacro
+++ b/pr2_description/robots/pr2.urdf.xacro
@@ -136,27 +136,6 @@
   </xacro:wge100_camera_v0>
 
   <!-- Kinect models -->
-  <!-- Kinect1 xacro -->
-  <xacro:if value="$(optenv KINECT1 false)">
-    <xacro:include filename="$(find pr2_description)/urdf/sensors/kinect_prosilica_camera.urdf.xacro" />
-    <!-- Base of Kinect/Prosilica Mount -->
-    <xacro:kinect_prosilica_camera_swept_back_v0 name="head_mount" parent="head_plate_frame" >
-      <origin xyz="-0.137376 0 0.091746" rpy="0 0 0" />
-      <!--
-            Was -0.1 0 0.09225, -0.138 0 0.09225 looks good front back and sheet metal on bolt pattern,
-            -0.138 0 0.06225 is where Prosilica FOV just clears the head.
-            This is 30 mm (!) below the position in SolidWorks.
-            Lowering the Prosilica by this amount in SW makes the FOV hit around the aluminum / plastic junction.
-            Turns out that head_plate_frame is in some random position in space.
-            It is [0.0232 0 0.0645 from its parent, head_tilt_link.
-            The distance from head_plate_frame to the head_kinect_prosilica is 137.376 mm X and 91.746 mm Z.
-            So the origin should in fact be -0.137376 0 0.091746.
-            John is changing the Prosilica FOV based on my numbers.
-            Just need to roscd and svn up.
-      -->
-    </xacro:kinect_prosilica_camera_swept_back_v0>
-  </xacro:if>
-
   <!-- Kinect2 xacro -->
   <xacro:if value="$(optenv KINECT2 false)">
     <xacro:include filename="$(find pr2_description)/urdf/sensors/kinect2.urdf.xacro" />
@@ -165,4 +144,27 @@
     </xacro:kinect2_v0>
   </xacro:if>
 
+  <!-- Kinect1 xacro -->
+  <xacro:unless value="$(optenv KINECT2 false">
+    <xacro:if value="$(optenv KINECT1 false)">
+      <xacro:include filename="$(find pr2_description)/urdf/sensors/kinect_prosilica_camera.urdf.xacro" />
+      <!-- Base of Kinect/Prosilica Mount -->
+      <xacro:kinect_prosilica_camera_swept_back_v0 name="head_mount" parent="head_plate_frame" >
+        <origin xyz="-0.137376 0 0.091746" rpy="0 0 0" />
+        <!--
+              Was -0.1 0 0.09225, -0.138 0 0.09225 looks good front back and sheet metal on bolt pattern,
+              -0.138 0 0.06225 is where Prosilica FOV just clears the head.
+              This is 30 mm (!) below the position in SolidWorks.
+              Lowering the Prosilica by this amount in SW makes the FOV hit around the aluminum / plastic junction.
+              Turns out that head_plate_frame is in some random position in space.
+              It is [0.0232 0 0.0645 from its parent, head_tilt_link.
+              The distance from head_plate_frame to the head_kinect_prosilica is 137.376 mm X and 91.746 mm Z.
+              So the origin should in fact be -0.137376 0 0.091746.
+              John is changing the Prosilica FOV based on my numbers.
+              Just need to roscd and svn up.
+        -->
+      </xacro:kinect_prosilica_camera_swept_back_v0>
+    </xacro:if>
+  </xacro:unless>
+
 </robot>

From eb495881cb505e97d9398dad10b8a6f91504535c Mon Sep 17 00:00:00 2001
From: archielee <archie_lee7@hotmail.com>
Date: Tue, 2 Feb 2016 13:06:01 -0500
Subject: [PATCH 3/3] Added a missing bracket

---
 pr2_description/robots/pr2.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pr2_description/robots/pr2.urdf.xacro b/pr2_description/robots/pr2.urdf.xacro
index d686f0f..df41e78 100644
--- a/pr2_description/robots/pr2.urdf.xacro
+++ b/pr2_description/robots/pr2.urdf.xacro
@@ -145,7 +145,7 @@
   </xacro:if>
 
   <!-- Kinect1 xacro -->
-  <xacro:unless value="$(optenv KINECT2 false">
+  <xacro:unless value="$(optenv KINECT2 false)">
     <xacro:if value="$(optenv KINECT1 false)">
       <xacro:include filename="$(find pr2_description)/urdf/sensors/kinect_prosilica_camera.urdf.xacro" />
       <!-- Base of Kinect/Prosilica Mount -->