Merge pull request #266 from furushchev/use-arg

pr2.urdf.xacro: support xacro:arg
PR2 · Feb 13, 2018 · c519efd · c519efd
2 parents 2ae11d1 + b4459bd
commit c519efd
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/pr2_description/robots/pr2.urdf.xacro b/pr2_description/robots/pr2.urdf.xacro
@@ -136,17 +136,19 @@
   </xacro:wge100_camera_v0>
 
   <!-- Kinect models -->
+  <xacro:arg name="KINECT1" default="false" />
+  <xacro:arg name="KINECT2" default="false" />
   <!-- Kinect2 xacro -->
-  <xacro:if value="$(optenv KINECT2 false)">
+  <xacro:if value="$(arg KINECT2)">
     <xacro:include filename="$(find pr2_description)/urdf/sensors/kinect2.urdf.xacro" />
     <xacro:kinect2_v0 name="head_mount" parent="head_plate_frame" >
       <origin xyz="-0.137376 0 0.091746" rpy="0 0 0" />
     </xacro:kinect2_v0>
   </xacro:if>
 
   <!-- Kinect1 xacro -->
-  <xacro:unless value="$(optenv KINECT2 false)">
-    <xacro:if value="$(optenv KINECT1 false)">
+  <xacro:unless value="$(arg KINECT2)">
+    <xacro:if value="$(arg KINECT1)">
       <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" >

diff --git a/pr2_description/robots/upload_pr2.launch b/pr2_description/robots/upload_pr2.launch
@@ -1,6 +1,8 @@
 <launch>
+  <arg name="KINECT1" default="$(optenv KINECT1 false)" />
+  <arg name="KINECT2" default="$(optenv KINECT2 false)" />
   <!-- send pr2 urdf to param server -->
   <group>
-    <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro'" />
+    <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro' KINECT1:=$(arg KINECT1) KINECT2:=$(arg KINECT2)" />
   </group>
 </launch>