Add materials xacro to macro instead of urdf xacro

If using the macro in other URDFs then the materials are included.
sam-xl · Sep 22, 2023 · 2b40856 · 2b40856
1 parent 2624179
commit 2b40856
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Showing 4 changed files with 7 additions and 7 deletions.
diff --git a/zivid_description/urdf/macros/zivid_one_plus_camera.xacro b/zivid_description/urdf/macros/zivid_one_plus_camera.xacro
@@ -2,6 +2,9 @@
 
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
+    <!-- Import Rviz colors -->
+    <xacro:include filename="$(find zivid_description)/urdf/zivid_materials.xacro" />
+
     <!-- Zivid One+ Optical Frame Angles -->
     <xacro:property name="angle_type_s" value="15.0" />
     <xacro:property name="angle_type_m" value="8.5" />

diff --git a/zivid_description/urdf/macros/zivid_two_camera.xacro b/zivid_description/urdf/macros/zivid_two_camera.xacro
@@ -1,7 +1,10 @@
 <?xml version="1.0"?>
 
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-
+
+    <!-- Import Rviz colors -->
+    <xacro:include filename="$(find zivid_description)/urdf/zivid_materials.xacro" />
+
     <xacro:macro name="zivid_two_camera" params="prefix type">
         <!-- Zivid Base Link -->
         <link name="${prefix}base_link">

diff --git a/zivid_description/urdf/zivid_one_plus_camera.urdf.xacro b/zivid_description/urdf/zivid_one_plus_camera.urdf.xacro
@@ -4,9 +4,6 @@
     <!--   Options: ZIVID_ONE_PLUS_S, ZIVID_ONE_PLUS_M, ZIVID_ONE_PLUS_L -->
     <xacro:arg name="type" default="ZIVID_ONE_PLUS_M" />
 
-    <!-- Import Rviz colors -->
-    <xacro:include filename="$(find zivid_description)/urdf/zivid_materials.xacro" />
-
     <!-- Import and load Zivid camera -->
     <xacro:include filename="$(find zivid_description)/urdf/macros/zivid_one_plus_camera.xacro"/>
     <xacro:zivid_one_plus_camera prefix="" type="$(arg type)"/>

diff --git a/zivid_description/urdf/zivid_two_camera.urdf.xacro b/zivid_description/urdf/zivid_two_camera.urdf.xacro
@@ -4,9 +4,6 @@
     <!--   Options: ZIVID_TWO_M70, ZIVID_TWO_M100, ZIVID_TWO_PLUS_L110, ZIVID_TWO_PLUS_M60, ZIVID_TWO_PLUS_M130 -->
     <xacro:arg name="type" default="ZIVID_TWO_M70" />
 
-    <!-- Import Rviz colors -->
-    <xacro:include filename="$(find zivid_description)/urdf/zivid_materials.xacro" />
-
     <!-- Import and load Zivid camera -->
     <xacro:include filename="$(find zivid_description)/urdf/macros/zivid_two_camera.xacro"/>
     <xacro:zivid_two_camera prefix="" type="$(arg type)"/>