Use new packages for Leo ERC

stage3/03-leo-ros/00-packages

@@ -1,4 +1,3 @@
-ros-melodic-leo-robot
 ros-melodic-raspicam-node
 ros-melodic-rosmon-core
 python3-stm32loader

stage3/03-leo-ros/02-run.sh

@@ -6,6 +6,9 @@ install -m 644 files/leo-erc.repos "${ROOTFS_DIR}/etc/ros/catkin_ws/"
 on_chroot <<EOF
 cd /etc/ros/catkin_ws
 vcs import < leo-erc.repos
+rosdep update
+rosdep fix-permissions
+rosdep install --from-paths src -iy
 catkin config --extend /opt/ros/melodic --install -i /opt/ros/leo
 catkin build
 EOF

stage3/03-leo-ros/files/leo-erc.repos

@@ -1,9 +1,9 @@
 repositories:
-  src/leo_bringup:
+  src/leo_erc_robot:
     type: git
-    url: https://github.com/LeoRover/leo_bringup.git
-    version: erc
-  src/leo_description:
+    url: https://github.com/LeoRover/leo_erc_robot.git
+    version: master
+  src/leo_erc_common:
     type: git
-    url: https://github.com/LeoRover/leo_description.git
-    version: erc
+    url: https://github.com/LeoRover/leo_erc_common.git
+    version: master

stage3/03-leo-ros/files/robot.launch

@@ -3,7 +3,7 @@
   <param name="robot_description"
          command="xacro /etc/ros/urdf/robot.urdf.xacro"/>
 
-  <include file="$(find leo_bringup)/launch/leo_bringup.launch">
+  <include file="$(find leo_erc_bringup)/launch/leo_bringup.launch">
     <arg name="upload_description" value="false"/>
     <arg name="tf_frame_prefix" value=""/>
   </include>

stage3/03-leo-ros/files/robot.urdf.xacro

@@ -2,11 +2,9 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
        name="leo">
 
-  <xacro:include filename="$(find leo_description)/urdf/macros.xacro"/>
+  <xacro:include filename="$(find leo_erc_description)/urdf/leo_erc_macros.xacro"/>
 
-  <xacro:leo default_antenna="true"
-             rockers_fixed="true"
-             footprint_link="true"
+  <xacro:leo rockers_fixed="true"
              link_prefix=""
              joint_prefix=""/>