From 325e51ad873e1137f77fda47d89a665ea6ae2848 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Thu, 16 Nov 2023 17:02:22 +0100
Subject: [PATCH] Fix

---
 rosbot_controller/test/test_xacro.py            | 10 ++--------
 rosbot_description/urdf/body.urdf.xacro         |  4 ++--
 rosbot_description/urdf/rosbot.urdf.xacro       |  2 +-
 rosbot_description/urdf/rosbot_macro.urdf.xacro |  4 ++--
 4 files changed, 7 insertions(+), 13 deletions(-)

diff --git a/rosbot_controller/test/test_xacro.py b/rosbot_controller/test/test_xacro.py
index 95e46489..7101b0ce 100644
--- a/rosbot_controller/test/test_xacro.py
+++ b/rosbot_controller/test/test_xacro.py
@@ -50,22 +50,16 @@ def test_rosbot_description_parsing():
             links = urdf.getElementsByTagName("link")
             for link in links:
                 link_name = link.getAttribute("name")
-                if namespace != "None":
+                if namespace != "":
                     if tf_prefix not in link_name:
                         assert False, f"Link name '{link_name}' does not contain '{namespace}'"
-                else:
-                    if tf_prefix in link_name:
-                        assert False, f"Link name '{link_name}' does not contain '{namespace}'"
 
             joints = urdf.getElementsByTagName("joint")
             for joint in joints:
                 joint_name = joint.getAttribute("name")
-                if namespace != "None":
+                if namespace != "":
                     if tf_prefix not in joint_name:
                         assert False, f"Joint name '{joint_name}' does not contain '{namespace}'"
-                else:
-                    if tf_prefix in joint_name:
-                        assert False, f"Joint name '{joint_name}' does not contain '{namespace}'"
 
         except xacro.XacroException as e:
             assert False, (
diff --git a/rosbot_description/urdf/body.urdf.xacro b/rosbot_description/urdf/body.urdf.xacro
index b553f02a..3c243260 100644
--- a/rosbot_description/urdf/body.urdf.xacro
+++ b/rosbot_description/urdf/body.urdf.xacro
@@ -4,9 +4,9 @@
   <xacro:macro name="body" params="wheel_radius mecanum use_gpu tf_prefix">
     <xacro:include filename="$(find rosbot_description)/urdf/components/vl53lox.urdf.xacro" ns="range_sensor" />
 
-    <xacro:property name="prefix" value="$(arg tf_prefix)" lazy_eval="false"/>
+    <xacro:property name="prefix" value="${tf_prefix}" lazy_eval="false"/>
     <xacro:if value="${prefix != ''}">
-      <xacro:property name="prefix" value="${prefix}_" />
+      <xacro:property name="prefix" value="${tf_prefix}_" />
     </xacro:if>
 
     <link name="${prefix}base_link" />
diff --git a/rosbot_description/urdf/rosbot.urdf.xacro b/rosbot_description/urdf/rosbot.urdf.xacro
index b2c68b5a..e406722a 100644
--- a/rosbot_description/urdf/rosbot.urdf.xacro
+++ b/rosbot_description/urdf/rosbot.urdf.xacro
@@ -10,7 +10,7 @@
 
   <xacro:property name="prefix" value="$(arg tf_prefix)" lazy_eval="false"/>
   <xacro:if value="${prefix != ''}">
-    <xacro:property name="prefix" value="${prefix}_" />
+    <xacro:property name="prefix" value="$(arg tf_prefix)_" />
   </xacro:if>
 
   <!-- Include rosbot_macro.urdf.xacro -->
diff --git a/rosbot_description/urdf/rosbot_macro.urdf.xacro b/rosbot_description/urdf/rosbot_macro.urdf.xacro
index 799e53ba..1ba322db 100644
--- a/rosbot_description/urdf/rosbot_macro.urdf.xacro
+++ b/rosbot_description/urdf/rosbot_macro.urdf.xacro
@@ -9,9 +9,9 @@
       <xacro:property name="wheel_radius" value="0.0425" />
     </xacro:unless>
 
-    <xacro:property name="prefix" value="$(arg tf_prefix)" lazy_eval="false"/>
+    <xacro:property name="prefix" value="${tf_prefix}" lazy_eval="false"/>
     <xacro:if value="${prefix != ''}">
-      <xacro:property name="prefix" value="${prefix}_" />
+      <xacro:property name="prefix" value="${tf_prefix}_" />
     </xacro:if>
 
     <!-- INCLUDE ROBOT PARTS DEFINITIONS -->