From 25da047db3313f70b0d19382d86c27155ba75b55 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Thu, 25 Jul 2024 18:18:41 +0200
Subject: [PATCH] Namespace refactor

---
 panther_description/urdf/gazebo.urdf.xacro        | 14 ++------------
 panther_description/urdf/panther_macro.urdf.xacro |  7 +------
 2 files changed, 3 insertions(+), 18 deletions(-)

diff --git a/panther_description/urdf/gazebo.urdf.xacro b/panther_description/urdf/gazebo.urdf.xacro
index b8b2afdbb..4d315fd29 100644
--- a/panther_description/urdf/gazebo.urdf.xacro
+++ b/panther_description/urdf/gazebo.urdf.xacro
@@ -6,12 +6,7 @@
 
     <!-- Read property -->
     <xacro:property name="battery_config" value="${xacro.load_yaml(config_file)}" />
-    <xacro:if value="${namespace == ''}">
-      <xacro:property name="ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${namespace == ''}">
-        <xacro:property name="ns" value="${namespace}/" />
-    </xacro:unless>
+    <xacro:property name="ns" value='${namespace + "/" if namespace else ""}' />
 
     <!-- Sim Battery -->
     <gazebo>
@@ -65,12 +60,7 @@
   <!-- IMU specification: https://www.phidgets.com/?tier=3&catid=10&pcid=8&prodid=1025#Tab_Specifications -->
   <xacro:macro name="imu" params="reference_frame namespace:=''">
 
-    <xacro:if value="${namespace == ''}">
-      <xacro:property name="ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${namespace == ''}">
-        <xacro:property name="ns" value="${namespace}/" />
-    </xacro:unless>
+    <xacro:property name="ns" value='${namespace + "/" if namespace else ""}' />
 
     <gazebo reference="${reference_frame}">
       <sensor name="${ns}imu" type="imu">
diff --git a/panther_description/urdf/panther_macro.urdf.xacro b/panther_description/urdf/panther_macro.urdf.xacro
index 7ff4192e2..01c2764bf 100644
--- a/panther_description/urdf/panther_macro.urdf.xacro
+++ b/panther_description/urdf/panther_macro.urdf.xacro
@@ -16,12 +16,7 @@
             imu_rot_y:=0.0
             namespace:=''">
 
-    <xacro:if value="${namespace == ''}">
-      <xacro:property name="ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${namespace == ''}">
-        <xacro:property name="ns" value="${namespace}/" />
-    </xacro:unless>
+    <xacro:property name="ns" value='${namespace + "/" if namespace else ""}' />
 
     <xacro:property name="wheel_config" value="${xacro.load_yaml(wheel_config_file)}" />
     <xacro:property name="wheel_separation_x" value="0.44" />