<?xml version="1.0"?>
<root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
      xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
      xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
      xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:include filename="$(find xacro)/test/robots/pr2/sensors/projector_wg6802418.gazebo.xacro" />

  <xacro:macro name="projector_wg6802418_v0" params="name parent *origin">
    <joint name="${name}_frame_joint" type="fixed">
      <xacro:insert_block name="origin" />
      <parent link="${parent}"/>
      <child link="${name}_frame"/>
    </joint>
    <link name="${name}_frame">
      <inertial>
        <mass value="0.01" />
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <inertia ixx="0.001"  ixy="0.0"  ixz="0.0"
                 iyy="0.001"  iyz="0.0"
                 izz="0.001" />
      </inertial>
    </link>
    <joint name="${name}_child_frame_joint" type="fixed">
      <origin xyz="0 0 0" rpy="0 ${-M_PI/2} 0" />
      <parent link="${name}_frame"/>
      <child link="${name}_child_frame"/>
    </joint>
    <link name="${name}_child_frame">
      <inertial>
        <mass value="0.01" />
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <inertia ixx="0.001"  ixy="0.0"  ixz="0.0"
                 iyy="0.001"  iyz="0.0"
                 izz="0.001" />
      </inertial>
    </link>
    <!-- extensions -->
    <xacro:projector_wg6802418_gazebo_v0 name="${name}"/>
  </xacro:macro>

</root>
