From 121ecf5a418ab36c598bd2c521c8a0f5407e9844 Mon Sep 17 00:00:00 2001
From: Meiying Qin <meiyingqin@gmail.com>
Date: Wed, 8 Jul 2020 16:31:43 -0400
Subject: [PATCH] commit customized copy

---
 .../urdf/robotiq_cam.xacro                    | 28 +++++++++++++++++++
 .../cfg/robotiq_hand_macro.urdf.xacro         |  2 +-
 .../urdf/robotiq_ft300.urdf.xacro             |  2 +-
 .../urdf/robotiq_fts150.urdf.xacro            |  2 +-
 4 files changed, 31 insertions(+), 3 deletions(-)
 create mode 100644 robotiq_2f_85_gripper_visualization/urdf/robotiq_cam.xacro

diff --git a/robotiq_2f_85_gripper_visualization/urdf/robotiq_cam.xacro b/robotiq_2f_85_gripper_visualization/urdf/robotiq_cam.xacro
new file mode 100644
index 00000000..3bb2bf81
--- /dev/null
+++ b/robotiq_2f_85_gripper_visualization/urdf/robotiq_cam.xacro
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="robotiq_cam" params="prefix">
+    <link name="${prefix}robotiq_cam_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="0.16" />
+        <inertia ixx="0.000111" ixy="0.0" ixz="0.0" iyy="0.00007" iyz="0.000003" izy="0.000003" izz="0.000165" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <cylinder length="0.0224" radius="0.038"/>
+        </geometry>
+        <material name="">
+          <color rgba="0 0 0.8 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <cylinder length="0.0224" radius="0.038"/>
+        </geometry>
+      </collision>
+    </link>
+  </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/robotiq_3f_gripper_visualization/cfg/robotiq_hand_macro.urdf.xacro b/robotiq_3f_gripper_visualization/cfg/robotiq_hand_macro.urdf.xacro
index 77c75c71..8980cba7 100644
--- a/robotiq_3f_gripper_visualization/cfg/robotiq_hand_macro.urdf.xacro
+++ b/robotiq_3f_gripper_visualization/cfg/robotiq_hand_macro.urdf.xacro
@@ -695,7 +695,7 @@ there are multiple hands then a prefix followed by an "_" is needed.
 
     <!-- joint attaching parent link to robotiq hand -->
     <joint name="${prefix}robotiq_hand_joint" type="fixed">
-      <xacro:insert_block name="origin"/>
+      <insert_block name="origin"/>
       <parent link="${parent}"/>
       <child link="${prefix}palm"/>
     </joint>
diff --git a/robotiq_ft_sensor/urdf/robotiq_ft300.urdf.xacro b/robotiq_ft_sensor/urdf/robotiq_ft300.urdf.xacro
index fb0b8c40..4ecccae9 100644
--- a/robotiq_ft_sensor/urdf/robotiq_ft300.urdf.xacro
+++ b/robotiq_ft_sensor/urdf/robotiq_ft300.urdf.xacro
@@ -21,7 +21,7 @@
 
         <!-- mount the fts to the robot -->
         <joint name="${prefix}ft300_fix" type="fixed">
-            <xacro:insert_block name="origin" />
+            <insert_block name="origin" />
             <parent link="${parent}" />
             <child link="${prefix}ft300_mounting_plate" />
         </joint>
diff --git a/robotiq_ft_sensor/urdf/robotiq_fts150.urdf.xacro b/robotiq_ft_sensor/urdf/robotiq_fts150.urdf.xacro
index 08ff6e97..534925d2 100644
--- a/robotiq_ft_sensor/urdf/robotiq_fts150.urdf.xacro
+++ b/robotiq_ft_sensor/urdf/robotiq_fts150.urdf.xacro
@@ -6,7 +6,7 @@
         <!-- mount the fts to the robot -->
         <joint name="${prefix}fts_fix" type="fixed" >
             <!--In most cases origin would be flange adapter plate: <origin xyz="0 0 0.009" rpy="0 0 0"/> /-->
-            <xacro:insert_block name="origin" />
+            <insert_block name="origin" />
             <parent link="${parent}" />
             <child link="${prefix}fts_robotside" />
         </joint>