Fix issues #106

iai_apartment/CMakeLists.txt

@@ -19,10 +19,10 @@ find_package(xacro REQUIRED)
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 # catkin_python_setup()
 
-xacro_add_xacro_file(urdf/apartment.urdf urdf/iai-apartment.urdf)
+xacro_add_xacro_file(urdf/apartment.xacro urdf/apartment.urdf)
 # add target to trigger xacro
 add_custom_target(xacro ALL DEPENDS
-  urdf/iai-apartment.urdf)
+  urdf/apartment.urdf)
 install(DIRECTORY xacro
   DESTINATION share/${PROJECT_NAME})
 

iai_apartment/launch/apartment_bringup.launch

@@ -1,12 +1,8 @@
 <launch>
 
-  <node pkg="tf"
-        type="static_transform_publisher"
-        name="iai_apartment_root_link_broadcaster" 
-        args="0 0 0 0 0 0 map iai_apartment/apartment_root 25">
-  </node>
+  <node pkg="tf" type="static_transform_publisher" name="iai_apartment_root_link_broadcaster" args="0 0 0 0 0 0 map iai_apartment/apartment_root 25"></node>
 
-  <arg name="model" default="$(find iai_apartment)/urdf/apartment.urdf" />
+  <arg name="model" default="$(find iai_apartment)/urdf/apartment.xacro" />
   <param name="apartment_description" command="$(find xacro)/xacro '$(arg model)'" />
 
   <node name="apartment_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
@@ -17,8 +13,8 @@
   </node>
 
   <node pkg="joint_state_publisher" type="joint_state_publisher" name="apartment_joint_state_publisher" output="screen">
-    <remap from="robot_description" to="apartment_description"/>
-    <param name="rate" value="25"/>
+    <remap from="robot_description" to="apartment_description" />
+    <param name="rate" value="25" />
     <remap from="/joint_states" to="/apartment_joint_states" />
     <rosparam param="source_list">
       - /iai_kitchen/cram_joint_states