Merge pull request #203 from husarion/ros2-ign-add-gps

Update external_antenna.urdf.xacro
husarion · Oct 9, 2023 · 3a56488 · 3a56488
2 parents 9989f8e + 4c68e35
commit 3a56488
Showing 1 changed file with 10 additions and 5 deletions.
diff --git a/panther_description/urdf/components/external_antenna.urdf.xacro b/panther_description/urdf/components/external_antenna.urdf.xacro
@@ -5,10 +5,6 @@
     params="parent_link xyz rpy
             tf_prefix:=None
             frame_id:=gps
-            topic:=gps
-            initial_latitude:=53.1978
-            initial_longitude:=18.3735
-            initial_altitude:=89.0
             simulation_engine:=ignition-gazebo">
 
     <xacro:if value="${tf_prefix == 'None'}">
@@ -60,5 +56,14 @@
 
     <link name="${tf_prefix_ext}${frame_id}" />
 
+    <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
+      <gazebo reference="${tf_prefix_ext}${frame_id}">
+        <sensor name="navsat" type="navsat">
+          <plugin filename="ignition-gazebo-navsat-system" name="ignition::gazebo::systems::NavSat" />
+          <always_on>1</always_on>
+          <update_rate>5</update_rate>
+        </sensor>
+      </gazebo>
+    </xacro:if>
   </xacro:macro>
-</robot>
+</robot>