Removed Duplicate Meshes

Link meshes for the MH5L matching those of the MH5 were removed.
Effected URDF references redirected to MH5 meshes.
Moved unique "link-s" mesh to dedicated mh5_old_variants directory.
Updated changelog to reflect shared meshes.

motoman_mh5_support/CHANGELOG.rst

@@ -5,7 +5,7 @@ Changelog for package motoman_mh5_support
 0.3.6 (UNRELEASED)
 ------------------
 ** Added support for MH5 SHORT and LONG variants
-* Each variant has unique launch, test, urdf, and mesh files. Only config/joint_names is shared.
+* Each variant has unique launch, test, urdf, and (L & U) mesh files. Config/joint_names and remaining mesh files are shared.
 * Fixed collision meshes
 * Fixed tab/spacing in all code
 * Renamed links & joints to ros-i convention

motoman_mh5_support/urdf/mh5_macro.xacro

@@ -58,13 +58,15 @@
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
           <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/link_3_u.stl"/>
+          <!-- <mesh filename="package://motoman_mh5_support/meshes/mh5_old_variants/visual/link_3_u.stl"/> --><!-- Uncomment & switch with above to use alternative U-link. -->
         </geometry>
         <material name="yaskawa_white"/>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
           <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/link_3_u.stl" />
+          <!-- <mesh filename="package://motoman_mh5_support/meshes/mh5_old_variants/collision/link_3_u.stl" /> --><!-- Uncomment & switch with above to use alternative U-link. -->
         </geometry>
       </collision>
     </link>

motoman_mh5_support/urdf/mh5l_macro.xacro

@@ -12,29 +12,29 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://motoman_mh5_support/meshes/mh5l/visual/base_link.stl" />
+          <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/base_link.stl" />
         </geometry>
         <material name="yaskawa_white"/>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://motoman_mh5_support/meshes/mh5l/collision/base_link.stl" />
+          <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/base_link.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_1_s">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://motoman_mh5_support/meshes/mh5l/visual/link_1_s.stl"/>
+          <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/link_1_s.stl"/>
         </geometry>
         <material name="yaskawa_white"/>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://motoman_mh5_support/meshes/mh5l/collision/link_1_s.stl" />
+          <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/link_1_s.stl" />
         </geometry>
       </collision>
     </link>
@@ -57,14 +57,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://motoman_mh5_support/meshes/mh5l/visual/link_3_u.stl"/>
+          <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/link_3_u.stl"/>
         </geometry>
         <material name="yaskawa_white"/>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://motoman_mh5_support/meshes/mh5l/collision/link_3_u.stl" />
+          <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/link_3_u.stl" />
         </geometry>
       </collision>
     </link>
@@ -87,29 +87,29 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://motoman_mh5_support/meshes/mh5l/visual/link_5_b.stl"/>
+          <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/link_5_b.stl"/>
         </geometry>
         <material name="yaskawa_white"/>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://motoman_mh5_support/meshes/mh5l/collision/link_5_b.stl" />
+          <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/link_5_b.stl" />
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_6_t">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://motoman_mh5_support/meshes/mh5l/visual/link_6_t.stl" />
+          <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/link_6_t.stl" />
         </geometry>
         <material name="yaskawa_white"/>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://motoman_mh5_support/meshes/mh5l/collision/link_6_t.stl" />
+          <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/link_6_t.stl" />
         </geometry>
       </collision>
     </link>