<?xml version="1.0"?>

<robot
  name="quadrotor"
  xmlns:xacro="http://ros.org/wiki/xacro"
>
   
    <xacro:property name="M_PI" value="3.1415926535897931" />
    
    <!-- Included URDF Files -->
    <xacro:include filename="$(find hector_quadrotor_description)/urdf/quadrotor_base.urdf.xacro" />
    
    <!-- Instantiate quadrotor_base_macro once (has no parameters atm) -->
    <xacro:quadrotor_base_macro />
    
    <!-- Hokuyo UTM-30LX mounted upside down below the quadrotor body -->
    <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
    <xacro:hokuyo_utm30lx name="laser0" parent="base_link" ros_topic="scan" update_rate="40" ray_count="1081" min_angle="-135" max_angle="135">
      <origin xyz="0.0 0.0 -0.097" rpy="${M_PI} 0 0"/>
    </xacro:hokuyo_utm30lx>
    
    <!-- Asus Xiton Live Pro -->
    <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
    <xacro:asus_camera name="camera" parent="base_link">
      <origin xyz="0.1 0.0 -0.03" rpy="0 ${M_PI/9} 0"/>
    </xacro:asus_camera>
    
</robot>
  
