RST-13476 rename variable in 335Le URDF (#6)

This PR makes a minor change renaming the prefix variable to "name"

Author: SushiRaj99

orbbec_description/urdf/gemini335Le_macro.urdf.xacro

@@ -4,22 +4,22 @@
 
 <xacro:macro name="gemini_335Le" params="
     parent
-    prefix:='camera'
+    name:='camera'
     *origin
     sim_gazebo:=false
     gz_fps:='5'
     gz_image_width:='848'
     gz_image_height:='530'">
 
   <!-- The original link started with camera_link -->
-  <joint name="${prefix}_gemini_mount_fixed_joint" type="fixed">
+  <joint name="${name}_gemini_mount_fixed_joint" type="fixed">
     <parent link="${parent}" />
-    <child link="${prefix}_link" />
+    <child link="${name}_link" />
     <xacro:insert_block name="origin"/>
   </joint>
 
   <link
-    name="${prefix}_link">
+    name="${name}_link">
     <inertial>
       <origin
         xyz="0.01235 -0.0020872 0.013243"
@@ -54,147 +54,147 @@
     </collision>
   </link>
 
-  <link name="${prefix}_bottom_screw_frame" />
+  <link name="${name}_bottom_screw_frame" />
   <joint
-    name="${prefix}_bottom_screw_frame_joint"
+    name="${name}_bottom_screw_frame_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="${prefix}_link" />
+      link="${name}_link" />
     <child
-      link="${prefix}_bottom_screw_frame" />
+      link="${name}_bottom_screw_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
 
-  <link name="${prefix}_infra2_frame" />
+  <link name="${name}_infra2_frame" />
   <joint
-    name="${prefix}_infra2_frame_joint"
+    name="${name}_infra2_frame_joint"
     type="fixed">
     <origin
       xyz="0.034005 -0.0475 0.014048"
       rpy="0 0 0" />
     <parent
-      link="${prefix}_link" />
+      link="${name}_link" />
     <child
-      link="${prefix}_infra2_frame" />
+      link="${name}_infra2_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
 
-  <link name="${prefix}_infra2_optical_frame" />
+  <link name="${name}_infra2_optical_frame" />
   <joint
-    name="${prefix}_infra2_optical_frame_joint"
+    name="${name}_infra2_optical_frame_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5708 0 -1.5708" />
     <parent
-      link="${prefix}_infra2_frame" />
+      link="${name}_infra2_frame" />
     <child
-      link="${prefix}_infra2_optical_frame" />
+      link="${name}_infra2_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
 
 
-  <link name="${prefix}_infra1_frame" />
+  <link name="${name}_infra1_frame" />
   <joint
-    name="${prefix}_infra1_frame_joint"
+    name="${name}_infra1_frame_joint"
     type="fixed">
     <origin
       xyz="0.034005 0.0475 0.014048"
       rpy="0 0 0" />
     <parent
-      link="${prefix}_link" />
+      link="${name}_link" />
     <child
-      link="${prefix}_infra1_frame" />
+      link="${name}_infra1_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
 
-  <link name="${prefix}_infra1_optical_frame" />
+  <link name="${name}_infra1_optical_frame" />
   <joint
-    name="${prefix}_infra1_optical_frame_joint"
+    name="${name}_infra1_optical_frame_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5708 0 -1.5708" />
     <parent
-      link="${prefix}_infra1_frame" />
+      link="${name}_infra1_frame" />
     <child
-      link="${prefix}_infra1_optical_frame" />
+      link="${name}_infra1_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
 
-  <link name="${prefix}_depth_frame" />
+  <link name="${name}_depth_frame" />
   <joint
-    name="${prefix}_depth_frame_joint"
+    name="${name}_depth_frame_joint"
     type="fixed">
     <parent
-      link="${prefix}_infra1_frame" />
+      link="${name}_infra1_frame" />
     <child
-      link="${prefix}_depth_frame" />
+      link="${name}_depth_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
 
-  <link name="${prefix}_depth_optical_frame" />
+  <link name="${name}_depth_optical_frame" />
   <joint
-    name="${prefix}_depth_optical_frame_joint"
+    name="${name}_depth_optical_frame_joint"
     type="fixed">
     <parent
-      link="${prefix}_infra1_optical_frame" />
+      link="${name}_infra1_optical_frame" />
     <child
-      link="${prefix}_depth_optical_frame" />
+      link="${name}_depth_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
 
-  <link name="${prefix}_color_frame" />
+  <link name="${name}_color_frame" />
   <joint
-    name="${prefix}_frame_frame_joint"
+    name="${name}_frame_frame_joint"
     type="fixed">
     <origin
       xyz="0.034014 0.02375 0.014048"
       rpy="0 0 0" />
     <parent
-      link="${prefix}_link" />
+      link="${name}_link" />
     <child
-      link="${prefix}_color_frame" />
+      link="${name}_color_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
 
-  <link name="${prefix}_color_optical_frame" />
+  <link name="${name}_color_optical_frame" />
   <joint
-    name="${prefix}_color_optical_frame_joint"
+    name="${name}_color_optical_frame_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5708 0 -1.5708" />
     <parent
-      link="${prefix}_color_frame" />
+      link="${name}_color_frame" />
     <child
-      link="${prefix}_color_optical_frame" />
+      link="${name}_color_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
 
-  <link name="${prefix}_imu_frame" />
+  <link name="${name}_imu_frame" />
   <joint
-    name="${prefix}_imu_frame_joint"
+    name="${name}_imu_frame_joint"
     type="fixed">
     <origin
       xyz="0.019757 0.03619 0.013358"
       rpy="0 0 0" />
     <parent
-      link="${prefix}_link" />
+      link="${name}_link" />
     <child
-      link="${prefix}_imu_frame" />
+      link="${name}_imu_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
@@ -204,8 +204,8 @@
     <xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />
     <!-- TODO: Upstream changes required for a triggered RBGD camera -->
     <xacro:gazebo_rgbd
-      name="${prefix}"
-      gz_topic_name="${prefix}"
+      name="${name}"
+      gz_topic_name="${name}"
       fps="${gz_fps}"
       image_width="${gz_image_width}"
       image_height="${gz_image_height}"