Refactor code structure for improved readability and maintainability

2026-04-14 18:06:58 +10:00
parent a913d512b9
commit 1156c768bb
13 changed files with 220 additions and 6765 deletions
@@ -16,7 +16,7 @@
    <xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
    <xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>

-    <xacro:include filename="$(find iiwa_description)/urdf/tools/patron.xacro"/>
+    <xacro:include filename="$(find iiwa_description)/urdf/tools/patronv2.xacro"/>

    <xacro:if value="$(arg simulate)">

@@ -32,15 +32,6 @@
                </ros>
            </device>

-            <device reference="example_camera" type="Camera">
-                <ros>
-                    <topicName>/camera_example/color</topicName>
-                    <updateRate>30</updateRate>
-                    <alwaysOn>True</alwaysOn>
-                    <frameName>example_camera</frameName>
-                </ros>
-            </device>
-
            <device reference="camera_depth" type="RangeFinder">
                <ros>
                    <topicName>/camera/depth</topicName>