From 2b408564429d44c8d3d1aba8321c5201a7f25c0c Mon Sep 17 00:00:00 2001
From: Syrine Zbidi <s.zbidi@tudelft.nl>
Date: Wed, 20 Sep 2023 14:19:08 +0200
Subject: [PATCH] Add materials xacro to macro instead of urdf xacro

If using the macro in other URDFs then the materials are included.
---
 zivid_description/urdf/macros/zivid_one_plus_camera.xacro | 3 +++
 zivid_description/urdf/macros/zivid_two_camera.xacro      | 5 ++++-
 zivid_description/urdf/zivid_one_plus_camera.urdf.xacro   | 3 ---
 zivid_description/urdf/zivid_two_camera.urdf.xacro        | 3 ---
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/zivid_description/urdf/macros/zivid_one_plus_camera.xacro b/zivid_description/urdf/macros/zivid_one_plus_camera.xacro
index 63ec54b1..ef9be4fa 100644
--- 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
index 7ac40efb..0af4b78f 100644
--- 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
index 7d176c3e..e7d10bf3 100644
--- 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
index 41caeba8..973b2f86 100644
--- 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)"/>