fixed xacro:if condition for melodic

4am-robotics · Jul 30, 2019 · 46d5653 · 46d5653
1 parent a89ec4b
commit 46d5653
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/cob_description/urdf/cob4_head/head.urdf.xacro b/cob_description/urdf/cob4_head/head.urdf.xacro
@@ -142,7 +142,7 @@
     <xacro:head_transmission name="${name}" dof1="${dof1}" dof2="${dof2}" dof3="${dof3}" />
 
     <!-- ros_control plugin -->
-    <xacro:if value="${(dof1 == 'true') or (dof2 == 'true') or (dof3 == 'true')}">
+    <xacro:if value="${(dof1 == True) or (dof2 == True) or (dof3 == True)}">
       <gazebo>
         <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
           <robotNamespace>${name}</robotNamespace>

diff --git a/cob_description/urdf/cob4_sensorring/sensorring.urdf.xacro b/cob_description/urdf/cob4_sensorring/sensorring.urdf.xacro
@@ -4,7 +4,7 @@
   <xacro:include filename="$(find cob_description)/urdf/cob4_sensorring/sensorring.gazebo.xacro" />
   <xacro:include filename="$(find cob_description)/urdf/cob4_sensorring/sensorring.transmission.xacro" />
 
-  <xacro:macro name="sensorring" params="parent name *origin active:=false">
+  <xacro:macro name="sensorring" params="parent name *origin active:=True">
 
     <joint name="${name}_base_joint" type="fixed">
       <xacro:insert_block name="origin" />

diff --git a/cob_description/urdf/cob4_torso/torso.urdf.xacro b/cob_description/urdf/cob4_torso/torso.urdf.xacro
@@ -4,7 +4,7 @@
   <xacro:include filename="$(find cob_description)/urdf/cob4_torso/torso.gazebo.xacro" />
   <xacro:include filename="$(find cob_description)/urdf/cob4_torso/torso.transmission.xacro" />
 
-  <xacro:macro name="torso" params="parent name *origin dof1:=false dof2:=false dof3:=false">
+  <xacro:macro name="torso" params="parent name *origin dof1:=False dof2:=False dof3:=False">
 
     <joint name="${name}_base_joint" type="fixed">
       <xacro:insert_block name="origin" />
@@ -174,7 +174,7 @@
     <xacro:torso_transmission name="${name}" dof1="${dof1}" dof2="${dof2}" dof3="${dof3}" />
 
     <!-- ros_control plugin -->
-    <xacro:if value="${(dof1 == 'true') or (dof2 == 'true') or (dof3 == 'true')}">
+    <xacro:if value="${(dof1 == True) or (dof2 == True) or (dof3 == True)}">
       <gazebo>
         <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
           <robotNamespace>${name}</robotNamespace>