From 9ade269ad9de1a36412e0a11ce3ff7275cf12112 Mon Sep 17 00:00:00 2001
From: srd-rd <robin.dietrich@ipa.fraunhofer.de>
Date: Fri, 9 Mar 2018 16:45:56 +0100
Subject: [PATCH 1/4] Added possibility to start controllers in a specified
 namespace, in addition to base.

---
 cob_description/urdf/cob4_base/base.urdf.xacro  | 4 +++-
 raw_description/urdf/base_short/base.urdf.xacro | 4 +++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/cob_description/urdf/cob4_base/base.urdf.xacro b/cob_description/urdf/cob4_base/base.urdf.xacro
index fd3d238bb..d174c571a 100644
--- a/cob_description/urdf/cob4_base/base.urdf.xacro
+++ b/cob_description/urdf/cob4_base/base.urdf.xacro
@@ -13,6 +13,8 @@
 
   <xacro:property name="base_mass" value="100" />
 
+  <xacro:arg name="robot_namespace" default="" />
+
 
   <xacro:macro name="base" params="name tricycle_mode:=false">
 
@@ -83,7 +85,7 @@
     <!-- ros_control plugin -->
     <gazebo>
       <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
-        <robotNamespace>${name}</robotNamespace>
+        <robotNamespace>$(arg robot_namespace)/${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>
     </gazebo>
diff --git a/raw_description/urdf/base_short/base.urdf.xacro b/raw_description/urdf/base_short/base.urdf.xacro
index ed9f5b0b0..6c77775e6 100644
--- a/raw_description/urdf/base_short/base.urdf.xacro
+++ b/raw_description/urdf/base_short/base.urdf.xacro
@@ -27,6 +27,8 @@
   <xacro:property name="battery_size_y" value="0.148" />
   <xacro:property name="battery_size_z" value="0.26" />
 
+  <xacro:arg name="robot_namespace" default="" />
+
 
   <!-- battery macros-->
   <xacro:macro name="cob_batteries" params="name parent *origin ">
@@ -123,7 +125,7 @@
     <!-- ros_control plugin -->
     <gazebo>
       <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
-        <robotNamespace>${name}</robotNamespace>
+        <robotNamespace>$(arg robot_namespace)/${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>
     </gazebo>

From 8997e0c62fde84870ad41d07be19b631fb0a583b Mon Sep 17 00:00:00 2001
From: srd-rd <robin.dietrich@ipa.fraunhofer.de>
Date: Thu, 31 May 2018 21:29:21 +0200
Subject: [PATCH 2/4] Changed raw model to box.

---
 raw_description/urdf/base_short/base.urdf.xacro | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/raw_description/urdf/base_short/base.urdf.xacro b/raw_description/urdf/base_short/base.urdf.xacro
index 6c77775e6..dc116016e 100644
--- a/raw_description/urdf/base_short/base.urdf.xacro
+++ b/raw_description/urdf/base_short/base.urdf.xacro
@@ -86,14 +86,15 @@
       <visual>
         <origin xyz="0 0 0.209" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://raw_description/meshes/base/raw_base_short.dae"/>
+          <!-- <mesh filename="package://raw_description/meshes/base/raw_base_short.dae"/> -->
+          <box size="0.688 0.503 0.096"/>
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0.209" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://raw_description/meshes/base/raw_base_short.stl"/>
-          <!--box size="0.758 0.573 0.096"/-->
+          <!-- <mesh filename="package://raw_description/meshes/base/raw_base_short.stl"/> -->
+          <box size="0.678 0.493 0.096"/>
         </geometry>
       </collision>
     </link>

From 41bd426dbe867372e4719f566488615ad8dbd86f Mon Sep 17 00:00:00 2001
From: srd-rd <robin.dietrich@ipa.fraunhofer.de>
Date: Wed, 13 Jun 2018 21:50:53 +0200
Subject: [PATCH 3/4] Updated stuff for raw3-1 and ipp.

---
 raw_description/urdf/base_long/base.urdf.xacro | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/raw_description/urdf/base_long/base.urdf.xacro b/raw_description/urdf/base_long/base.urdf.xacro
index ac26f9b24..595ff5d97 100644
--- a/raw_description/urdf/base_long/base.urdf.xacro
+++ b/raw_description/urdf/base_long/base.urdf.xacro
@@ -28,6 +28,8 @@
   <xacro:property name="battery_size_y" value="0.148" />
   <xacro:property name="battery_size_z" value="0.26" />
 
+  <xacro:arg name="robot_namespace" default="" />
+
   <!-- battery macros-->
   <xacro:macro name="cob_batteries" params="name parent *origin ">
     <joint name="${name}_battery_joint" type="fixed">
@@ -83,8 +85,8 @@
       <collision>
         <origin xyz="0 0 0.209" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://raw_description/meshes/base/raw_base_long.stl"/>
-          <!--box size="1.04 0.58 0.31" /-->
+          <!--<mesh filename="package://raw_description/meshes/base/raw_base_long.stl"/>-->
+          <box size="0.93 0.49 0.31" />
         </geometry>
       </collision>
     </link>
@@ -121,7 +123,7 @@
     <!-- ros_control plugin -->
     <gazebo>
       <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
-        <robotNamespace>${name}</robotNamespace>
+        <robotNamespace>$(arg robot_namespace)/${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>
     </gazebo>

From 5795ee20e729b7d97c50daeb91ce7b81748e9f0d Mon Sep 17 00:00:00 2001
From: srd-rd <robin.dietrich@ipa.fraunhofer.de>
Date: Mon, 24 Sep 2018 16:02:36 +0200
Subject: [PATCH 4/4] Changed base back to stl

---
 raw_description/urdf/base_long/base.urdf.xacro  | 4 ++--
 raw_description/urdf/base_short/base.urdf.xacro | 8 ++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/raw_description/urdf/base_long/base.urdf.xacro b/raw_description/urdf/base_long/base.urdf.xacro
index 595ff5d97..2297932ad 100644
--- a/raw_description/urdf/base_long/base.urdf.xacro
+++ b/raw_description/urdf/base_long/base.urdf.xacro
@@ -85,8 +85,8 @@
       <collision>
         <origin xyz="0 0 0.209" rpy="0 0 0" />
         <geometry>
-          <!--<mesh filename="package://raw_description/meshes/base/raw_base_long.stl"/>-->
-          <box size="0.93 0.49 0.31" />
+          <mesh filename="package://raw_description/meshes/base/raw_base_long.stl"/>
+          <!--<box size="0.93 0.49 0.31" />-->
         </geometry>
       </collision>
     </link>
diff --git a/raw_description/urdf/base_short/base.urdf.xacro b/raw_description/urdf/base_short/base.urdf.xacro
index dc116016e..d34902c2e 100644
--- a/raw_description/urdf/base_short/base.urdf.xacro
+++ b/raw_description/urdf/base_short/base.urdf.xacro
@@ -86,15 +86,15 @@
       <visual>
         <origin xyz="0 0 0.209" rpy="0 0 0" />
         <geometry>
-          <!-- <mesh filename="package://raw_description/meshes/base/raw_base_short.dae"/> -->
-          <box size="0.688 0.503 0.096"/>
+          <mesh filename="package://raw_description/meshes/base/raw_base_short.dae"/>
+          <!--<box size="0.688 0.503 0.096"/>-->
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0.209" rpy="0 0 0" />
         <geometry>
-          <!-- <mesh filename="package://raw_description/meshes/base/raw_base_short.stl"/> -->
-          <box size="0.678 0.493 0.096"/>
+          <mesh filename="package://raw_description/meshes/base/raw_base_short.stl"/>
+          <!--<box size="0.678 0.493 0.096"/>-->
         </geometry>
       </collision>
     </link>