<?xml version="1.0" ?>
<robot name="twolidarbot" xmlns:xacro="http://ros.org/wiki/xacro">

    <!-- ####################################### -->
    <!-- Arguments and propperties-->
    <!-- ####################################### -->
    <!--Args are local, properties are global, so we copy the values of the arguments to the properties-->
    <!--Properties are global so they can be viewed from inside the included xacros-->
    <!--  args are used with $(arg arg_name), properties are used as ${property_name}-->
    <xacro:property name="M_PI" value="3.1415926535897931"/>

    <!-- ####################################### -->
    <!-- Include files-->
    <!-- ####################################### -->
    <xacro:include filename="$(find twolidarbot_description)/urdf/properties.xacro"/>

    <!-- Scene objets-->
    <xacro:include filename="$(find twolidarbot_description)/urdf/tripod.macro.xacro"/>

    <!-- Sensors-->
    <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
    <xacro:include filename="$(find camerabot_description)/urdf/atom_astra.urdf.xacro"/>


    <!-- ####################################### -->
    <!-- Declare links and joints -->
    <!-- ####################################### -->
    <link name="world"/>

    <!-- Place tripod in the scene-->
    <xacro:tripod_macro name="tripod" parent="world">
        <origin xyz="0 0 0" rpy="0 0 ${2/3*M_PI}"/>
    </xacro:tripod_macro>

    <!-- Put 3d lidar in the scene-->
    <xacro:VLP-16 name="lidar_1" parent="tripod_left_support" topic="/lidar_1/points">
        <origin xyz="0 0 0.001" rpy="0 0 0"/>
    </xacro:VLP-16>

    <!-- Put world camera on top of tripod -->
    <xacro:VLP-16 name="lidar_2" parent="tripod_right_support" topic="/lidar_2/points">
        <origin xyz="0 0 0.001" rpy="0 0 0"/>
    </xacro:VLP-16>

    <xacro:sensor_astra prefix="camera" parent="tripod_plate">
        <origin xyz="0.02 0.07 0.015" rpy="0 0.0 0"/>
    </xacro:sensor_astra>

</robot>