From 51df8e97d267f8d97cb00ae5181cd5e002bd1127 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com>
Date: Mon, 9 Dec 2024 16:22:36 -0500
Subject: [PATCH] Add plugins to get the PTZ joint states out of gazebo and
 into ROS (#126)

---
 .../urdf/axis/axis_dome_ptz.urdf.xacro           |  8 ++++++++
 .../urdf/axis/axis_q62.urdf.xacro                | 16 ++++++++++++++--
 2 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/clearpath_sensors_description/urdf/axis/axis_dome_ptz.urdf.xacro b/clearpath_sensors_description/urdf/axis/axis_dome_ptz.urdf.xacro
index 7f8c482..f5a7ad1 100644
--- a/clearpath_sensors_description/urdf/axis/axis_dome_ptz.urdf.xacro
+++ b/clearpath_sensors_description/urdf/axis/axis_dome_ptz.urdf.xacro
@@ -112,6 +112,14 @@
         <cmd_max>2.61</cmd_max>
         <topic>$(arg namespace)/sensors/${prefix}/cmd_tilt_vel</topic>
       </plugin>
+      <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
+        <joint_name>${prefix}_pan_joint</joint_name>
+        <topic>$(arg namespace)/sensors/${prefix}/pan_joint_state</topic>
+      </plugin>
+      <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
+        <joint_name>${prefix}_tilt_joint</joint_name>
+        <topic>$(arg namespace)/sensors/${prefix}/tilt_joint_state</topic>
+      </plugin>
     </gazebo>
     <gazebo reference="${prefix}_link">
       <material>Gazebo/Black</material>
diff --git a/clearpath_sensors_description/urdf/axis/axis_q62.urdf.xacro b/clearpath_sensors_description/urdf/axis/axis_q62.urdf.xacro
index ef44c1b..6fcf673 100644
--- a/clearpath_sensors_description/urdf/axis/axis_q62.urdf.xacro
+++ b/clearpath_sensors_description/urdf/axis/axis_q62.urdf.xacro
@@ -97,14 +97,18 @@
           <box size="0.03 0.09 0.01" />
         </geometry>
         <origin xyz="-0.01 0 0.05" rpy="0 0 0" />
-        <material name="black" />
+        <material name="black">
+          <color rgba="0 0 0 1" />
+        </material>
       </visual>
       <visual>
         <geometry>
           <box size="0.03 0.09 0.01" />
         </geometry>
         <origin xyz="-0.01 0.20 0.05" rpy="0 0 0" />
-        <material name="black" />
+        <material name="black">
+          <color rgba="0 0 0 1" />
+        </material>
       </visual>
       <inertial>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -138,6 +142,14 @@
         <cmd_max>2.61</cmd_max>
         <topic>$(arg namespace)/sensors/${prefix}/cmd_tilt_vel</topic>
       </plugin>
+      <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
+        <joint_name>${prefix}_pan_joint</joint_name>
+        <topic>$(arg namespace)/sensors/${prefix}/pan_joint_state</topic>
+      </plugin>
+      <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
+        <joint_name>${prefix}_tilt_joint</joint_name>
+        <topic>$(arg namespace)/sensors/${prefix}/tilt_joint_state</topic>
+      </plugin>
     </gazebo>
     <gazebo reference="${prefix}_link">
       <plugin filename="libgz-sim-sensors-system.so" name="gz::sim::systems::Sensors">