Merge branch 'fix-use-nominal-extrinsics-param' of https://github.com…

…/mcamurri/realsense-ros into mcamurri-fix-use-nominal-extrinsics-param

realsense2_description/urdf/_d415.urdf.xacro

@@ -73,7 +73,7 @@ aluminum peripherial evaluation case.
     </link>
 
     <!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation  -->
-    <xacro:if value="$(arg use_nominal_extrinsics)">
+    <xacro:if value="${use_nominal_extrinsics}">
       <!-- camera depth joints and links -->
       <joint name="${name}_depth_joint" type="fixed">
         <origin xyz="0 0 0" rpy="0 0 0"/>

realsense2_description/urdf/_d435.urdf.xacro

@@ -79,7 +79,7 @@ aluminum peripherial evaluation case.
     </link>
 
     <!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation  -->
-    <xacro:if value="$(arg use_nominal_extrinsics)">
+    <xacro:if value="${use_nominal_extrinsics}">
       <!-- camera depth joints and links -->
       <joint name="${name}_depth_joint" type="fixed">
         <origin xyz="0 0 0" rpy="0 0 0"/>

realsense2_description/urdf/_r410.urdf.xacro

@@ -65,7 +65,7 @@ aluminum peripherial evaluation case.
     </link>
 
     <!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation  -->
-    <xacro:if value="$(arg use_nominal_extrinsics)">
+    <xacro:if value="${use_nominal_extrinsics}">
       <!-- camera depth joints and links -->
       <joint name="${name}_depth_joint" type="fixed">
         <origin xyz="${r410_cam_depth_px} ${r410_cam_depth_py} ${r410_cam_depth_pz}" rpy="0 0 0"/>

realsense2_description/urdf/_r430.urdf.xacro

@@ -66,7 +66,7 @@ aluminum peripherial evaluation case.
     </link>
 
     <!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation  -->
-    <xacro:if value="$(arg use_nominal_extrinsics)">
+    <xacro:if value="${use_nominal_extrinsics}">
       <!-- camera depth joints and links -->
       <joint name="${name}_depth_joint" type="fixed">
         <origin xyz="${r430_cam_depth_px} ${r430_cam_depth_py} ${r430_cam_depth_pz}" rpy="0 0 0"/>

realsense2_description/urdf/test_d415_camera.urdf.xacro

@@ -1,9 +1,10 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="use_nominal_extrinsics" default="false" />
   <xacro:include filename="$(find realsense2_description)/urdf/_d415.urdf.xacro" />
 
   <link name="base_link" />
-  <sensor_d415 parent="base_link">
+  <sensor_d415 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
     <origin xyz="0 0 0" rpy="0 0 0"/>
   </sensor_d415>
 </robot>

realsense2_description/urdf/test_d435_camera.urdf.xacro

@@ -1,9 +1,10 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="use_nominal_extrinsics" default="false"/>
   <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
 
   <link name="base_link" />
-  <sensor_d435 parent="base_link">
+  <sensor_d435 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
     <origin xyz="0 0 0" rpy="0 0 0"/>
   </sensor_d435>
 </robot>

realsense2_description/urdf/test_d435_multiple_cameras.urdf.xacro

@@ -1,13 +1,14 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="use_nominal_extrinsics" default="false"/>
   <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
 
   <link name="base_link" />
-  <sensor_d435 parent="base_link" name="camera1">
+  <sensor_d435 parent="base_link" name="camera1" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
     <origin xyz="0.1 0 0" rpy="0 0 0"/>
   </sensor_d435>
 
-  <sensor_d435 parent="base_link" name="camera2">
+  <sensor_d435 parent="base_link" name="camera2" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
     <origin xyz="-0.1 0 0" rpy="0 0 3.1456"/>
   </sensor_d435>
 </robot>

realsense2_description/urdf/test_r410_camera.urdf.xacro

@@ -1,9 +1,10 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="use_nominal_extrinsics" default="false"/>
   <xacro:include filename="$(find realsense2_description)/urdf/_r410.urdf.xacro" />
 
   <link name="base_link" />
-  <sensor_r410 parent="base_link">
+  <sensor_r410 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
     <origin xyz="0 0 0" rpy="0 0 0"/>
   </sensor_r410>
 </robot>

realsense2_description/urdf/test_r430_camera.urdf.xacro

@@ -1,9 +1,10 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="use_nominal_extrinsics" default="false"/>
   <xacro:include filename="$(find realsense2_description)/urdf/_r430.urdf.xacro" />
 
   <link name="base_link" />
-  <sensor_r430 parent="base_link">
+  <sensor_r430 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
     <origin xyz="0 0 0" rpy="0 0 0"/>
   </sensor_r430>
 </robot>