<?xml version="1.0"?>

<robot 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/hokuyo_lx30_laser.gazebo.xacro" />

  <xacro:macro name="hokuyo_lx30_laser_v0" params="name parent *origin ros_topic update_rate min_angle max_angle">
    <joint name="${name}_joint" type="fixed">
      <axis xyz="0 1 0" />
      <xacro:insert_block name="origin" />
      <parent link="${parent}_link"/>
      <child link="${name}_link"/>
    </joint>
    <link name="${name}_link" type="laser">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" rpy="0 0 0" />
        <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001" />
      </inertial>
    </link>
    <!-- gazebo extensions -->
    <xacro:hokuyo_lx30_laser_gazebo_v0 name="${name}" ros_topic="${ros_topic}" update_rate="${update_rate}" min_angle="${min_angle}" max_angle="${max_angle}" />
  </xacro:macro>
</robot>
