From 8f1dafec824f8a3754dae6372d2b5015484e3017 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Rafael=20Mart=C3=ADn?= <theverbat@gmail.com>
Date: Mon, 17 Jun 2024 07:31:26 +0200
Subject: [PATCH] sick_nanoscan3: format

---
 urdf/sick_nanoscan3.urdf.xacro | 184 +++++++++++++++++----------------
 1 file changed, 95 insertions(+), 89 deletions(-)

diff --git a/urdf/sick_nanoscan3.urdf.xacro b/urdf/sick_nanoscan3.urdf.xacro
index 9e97290..7aa3cd5 100644
--- a/urdf/sick_nanoscan3.urdf.xacro
+++ b/urdf/sick_nanoscan3.urdf.xacro
@@ -1,95 +1,101 @@
 <?xml version="1.0"?>
-<robot name="sensor_sick_nanoscan3"
-	xmlns:xacro="http://wiki.ros.org/xacro">
+<robot
+  name="sensor_sick_nanoscan3"
+  xmlns:xacro="http://wiki.ros.org/xacro"
+>
+  <xacro:macro
+    name="sensor_sick_nanoscan3"
+    params="
+      prefix
+      parent
+      *origin
+      prefix_topic:='front_laser'
+      max_angle:=radians(137.5)
+      min_angle:=-radians(137.5)
+      gpu:=^|true
+      include_inertial:=^|true
+    "
+  >
+    <joint name="${prefix}_base_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}" />
+      <child link="${prefix}_base_link" />
+    </joint>
+    <link name="${prefix}_base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://robotnik_sensors/meshes/sick_nanoscan3.stl" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://robotnik_sensors/meshes/sick_nanoscan3.stl" />
+        </geometry>
+      </collision>
+      <xacro:if value="${include_inertial}">
+        <inertial>
+          <mass value="0.67" />
+          <origin xyz="0 0 0.04" rpy="0 0 0" />
+          <xacro:solid_cuboid_inertia m="0.67" w="0.1006" h="0.1006" d="0.08" />
+        </inertial>
+      </xacro:if>
+    </link>
 
-	<xacro:macro name="sensor_sick_nanoscan3" params="prefix parent prefix_topic:='front_laser' *origin max_angle:=2.3998 min_angle:=-2.3998 gpu:=^|true include_inertial:=^|true">
+    <joint name="${prefix}_joint" type="fixed">
+      <parent link="${prefix}_base_link" />
+      <child link="${prefix}_link" />
+      <origin xyz="0.0 0 0.0505" rpy="0 0 0" />
+    </joint>
+    <link name="${prefix}_link" />
 
-		<joint name="${prefix}_base_joint" type="fixed">
-			<xacro:insert_block name="origin" />
-			<parent link="${parent}"/>
-			<child link="${prefix}_base_link"/>
-		</joint>
+    <xacro:sensor_sick_nanoscan3_gazebo />
+  </xacro:macro>
 
-		<link name="${prefix}_base_link">
-			<collision>
-				<origin xyz="0 0 0" rpy="0 0 0"/>
-				<geometry>
-					<!--<box size="0.106 0.094 0.152"/>-->
-					<!--<cylinder radius="0.058" length="0.152"/>-->
-					<mesh filename="package://robotnik_sensors/meshes/sick_nanoscan3.stl"/>
-				</geometry>
-			</collision>
-
-			<visual>
-				<origin xyz="0 0 0" rpy="0 0 0"/>
-				<geometry>
-					<mesh filename="package://robotnik_sensors/meshes/sick_nanoscan3.stl"/>
-				</geometry>
-			</visual>
-			<xacro:if value="${include_inertial}">
-				<inertial>
-					<mass value="0.67" />
-					<origin xyz="0 0 0.04" rpy="0 0 0"/> 
-					<xacro:solid_cuboid_inertia m="0.67" w="0.1006" h="0.1006" d="0.08" /> <!-- Datasheet dimensional drawing: 100.6 mm x 100.6 mm x 80 mm without connectors --> 
-				</inertial>
-			</xacro:if>
-		</link>
-
-		<joint name="${prefix}_joint" type="fixed">
-			<parent link="${prefix}_base_link"/>
-			<child link="${prefix}_link"/>
-			<origin xyz="0.0 0 0.0505" rpy="0 0 0"/>
-		</joint>
-
-		<link name="${prefix}_link" />
-
-		<!-- Sick sensor sensor for simulation -->
-		<xacro:sensor_sick_nanoscan3_gazebo />
-
-	</xacro:macro>
-
-	<xacro:macro name="sensor_sick_nanoscan3_gazebo">
-		<gazebo reference="${prefix}_link">
-
-			<xacro:if value="${gpu}">
-				<xacro:property name="ray_type" value="gpu_ray" />
-				<xacro:property name="plugin_lib" value="libgazebo_ros_gpu_laser.so" />
-			</xacro:if>
-			<xacro:unless value="${gpu}">
-				<xacro:property name="ray_type" value="ray" />
-				<xacro:property name="plugin_lib" value="libgazebo_ros_laser.so" />
-			</xacro:unless>
-
-			<sensor type="${ray_type}" name="${prefix}_sensor">
-				<pose>0 0 0 0 0 0</pose>
-				<visualize>false</visualize>
-				<update_rate>12.5</update_rate>
-				<ray>
-					<scan>
-						<horizontal>
-							<samples>1618</samples>
-							<resolution>1</resolution>
-							<min_angle>${min_angle}</min_angle>
-							<max_angle>${max_angle}</max_angle>
-						</horizontal>
-					</scan>
-					<range>
-						<min>0.065</min>
-						<max>40.0</max> <!-- 3m protective, 10 warning, 40 measurement -->
-						<resolution>0.07</resolution> <!-- Resolution is configurable 20 mm 30 mm 40 mm 50 mm 60 mm 70 mm 150 mm 200 mm, reglamentary resolution is 70 mm -->
-					</range>
-					<noise>
-						<type>gaussian</type>
-						<mean>0.0</mean>
-						<stddev>0.03</stddev>
-					</noise>
-				</ray>
-				<plugin name="${prefix}_controller" filename="${plugin_lib}">
-					<topicName>${prefix_topic}/scan</topicName>
-					<frameName>/${prefix}_link</frameName>					<!-- if not global (leading /) sets the current namespace as a prefix (/ns/name_laser_link) -->
-				</plugin>
-			</sensor>
-		</gazebo>
-	</xacro:macro>
+  <xacro:macro
+    name="sensor_sick_nanoscan3_gazebo"
+  >
+    <gazebo reference="${prefix}_link">
+      <xacro:if value="${gpu}">
+        <xacro:property name="ray_type" value="gpu_ray" />
+        <xacro:property name="plugin_lib" value="libgazebo_ros_gpu_laser.so" />
+      </xacro:if>
+      <xacro:unless value="${gpu}">
+        <xacro:property name="ray_type" value="ray" />
+        <xacro:property name="plugin_lib" value="libgazebo_ros_laser.so" />
+      </xacro:unless>
 
+      <sensor type="${ray_type}" name="${prefix}_sensor">
+        <pose>0 0 0 0 0 0</pose>
+        <visualize>false</visualize>
+        <update_rate>12.5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>1618</samples>
+              <resolution>1</resolution>
+              <min_angle>${min_angle}</min_angle>
+              <max_angle>${max_angle}</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.065</min>
+            <max>40.0</max>
+            <!-- Resolution: 20mm, 30mm, 40mm, 50mm, 60mm, [70mm], 150mm, 200mm-->
+            <resolution>0.1</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </ray>
+        <plugin name="${prefix}_controller" filename="${plugin_lib}">
+          <topicName>${prefix_topic}/scan</topicName>
+          <frameName>/${prefix}_link</frameName>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
 </robot>