From baecad8e75c5ec87ee13a926f882f75b5dba1479 Mon Sep 17 00:00:00 2001
From: Michael Equi <equim20@student.jhs.net>
Date: Fri, 15 Mar 2019 11:47:02 -0700
Subject: [PATCH] updated xacro tags

---
 realsense2_description/urdf/_r410.urdf.xacro            | 8 ++++----
 realsense2_description/urdf/_r430.urdf.xacro            | 8 ++++----
 realsense2_description/urdf/test_r410_camera.urdf.xacro | 2 +-
 realsense2_description/urdf/test_r430_camera.urdf.xacro | 2 +-
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/realsense2_description/urdf/_r410.urdf.xacro b/realsense2_description/urdf/_r410.urdf.xacro
index 9670fa4..e43954c 100644
--- a/realsense2_description/urdf/_r410.urdf.xacro
+++ b/realsense2_description/urdf/_r410.urdf.xacro
@@ -8,7 +8,7 @@ This is the URDF model for the Intel RealSense 410 camera, in it's
 aluminum peripherial evalution case.
 -->
 
-<robot name="sensor_r410" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="sensor_r410" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <!-- The following values are approximate, and the camera node
@@ -17,7 +17,7 @@ aluminum peripherial evalution case.
   <xacro:property name="r410_cam_depth_to_right_ir_offset" value="0.0275"/>
 
   <!-- The following values model the aluminum peripherial case for the
-    R410 camera, with the camera joint represented by the actual 
+    R410 camera, with the camera joint represented by the actual
     peripherial camera tripod mount -->
   <xacro:property name="r410_cam_width" value="0.099"/>
   <xacro:property name="r410_cam_height" value="0.035"/>
@@ -65,7 +65,7 @@ aluminum peripherial evalution case.
         <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
       </inertial>
     </link>
-   
+
     <!-- camera depth joints and links -->
     <joint name="camera_depth_joint" type="fixed">
       <origin xyz="${r410_cam_depth_px} ${r410_cam_depth_py} ${r410_cam_depth_pz}" rpy="0 0 0"/>
@@ -80,7 +80,7 @@ aluminum peripherial evalution case.
       <child link="camera_depth_optical_frame" />
     </joint>
     <link name="camera_depth_optical_frame"/>
-      
+
     <!-- camera left IR joints and links -->
     <joint name="camera_left_ir_joint" type="fixed">
       <origin xyz="0 ${r410_cam_depth_to_left_ir_offset} 0" rpy="0 0 0" />
diff --git a/realsense2_description/urdf/_r430.urdf.xacro b/realsense2_description/urdf/_r430.urdf.xacro
index 5733b4f..d9d0744 100644
--- a/realsense2_description/urdf/_r430.urdf.xacro
+++ b/realsense2_description/urdf/_r430.urdf.xacro
@@ -8,7 +8,7 @@ This is the URDF model for the Intel RealSense 430 camera, in it's
 aluminum peripherial evaluation case.
 -->
 
-<robot name="sensor_r430" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="sensor_r430" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <!-- The following values are approximate, and the camera node
@@ -18,7 +18,7 @@ aluminum peripherial evaluation case.
   <xacro:property name="r430_cam_depth_to_fisheye_offset" value="0.042"/>
 
   <!-- The following values model the aluminum peripherial case for the
-    R430 camera, with the camera joint represented by the actual 
+    R430 camera, with the camera joint represented by the actual
     peripherial camera tripod mount -->
   <xacro:property name="r430_cam_width" value="0.105"/>
   <xacro:property name="r430_cam_height" value="0.039"/>
@@ -66,7 +66,7 @@ aluminum peripherial evaluation case.
         <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
       </inertial>
     </link>
-   
+
     <!-- camera depth joints and links -->
     <joint name="camera_depth_joint" type="fixed">
       <origin xyz="${r430_cam_depth_px} ${r430_cam_depth_py} ${r430_cam_depth_pz}" rpy="0 0 0"/>
@@ -81,7 +81,7 @@ aluminum peripherial evaluation case.
       <child link="camera_depth_optical_frame" />
     </joint>
     <link name="camera_depth_optical_frame"/>
-      
+
     <!-- camera left IR joints and links -->
     <joint name="camera_left_ir_joint" type="fixed">
       <origin xyz="0 ${r430_cam_depth_to_left_ir_offset} 0" rpy="0 0 0" />
diff --git a/realsense2_description/urdf/test_r410_camera.urdf.xacro b/realsense2_description/urdf/test_r410_camera.urdf.xacro
index 849559b..d7ac700 100644
--- a/realsense2_description/urdf/test_r410_camera.urdf.xacro
+++ b/realsense2_description/urdf/test_r410_camera.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="realsense2_camera" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:include filename="$(find realsense2_description)/urdf/_r410.urdf.xacro"/>
 
   <link name="base_link" />
diff --git a/realsense2_description/urdf/test_r430_camera.urdf.xacro b/realsense2_description/urdf/test_r430_camera.urdf.xacro
index 0353509..1f54bce 100644
--- a/realsense2_description/urdf/test_r430_camera.urdf.xacro
+++ b/realsense2_description/urdf/test_r430_camera.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="realsense2_camera" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:include filename="$(find realsense2_description)/urdf/_r430.urdf.xacro"/>
 
   <link name="base_link" />