Adding an option for choosing simple collision model, didn't set proper dimensions

Author: JonaszM

meldog_description/description/links/foot/LFF_link.urdf.xacro

@@ -3,7 +3,10 @@
 
     <xacro:link_macro 
         name="LFF_link" 
-        is_foot="1"
+
+        sc_length="${foot_col_length}"
+        sc_radius="${foot_col_radius}"
+
         vis_name="${foot_vis_stl_name}" 
         coll_name="empty"
 

meldog_description/description/links/foot/LRF_link.urdf.xacro

@@ -3,7 +3,10 @@
 
     <xacro:link_macro 
         name="LRF_link" 
-        is_foot="1"
+ 
+        sc_length="${foot_col_length}"
+        sc_radius="${foot_col_radius}"
+
         vis_name="${foot_vis_stl_name}"
         coll_name="empty" 
 

meldog_description/description/links/foot/RFF_link.urdf.xacro

@@ -3,7 +3,10 @@
 
     <xacro:link_macro 
         name="RFF_link" 
-        is_foot="1"
+
+        sc_length="${foot_col_length}"
+        sc_radius="${foot_col_radius}"
+
         vis_name="${foot_vis_stl_name}"
         coll_name="empty" 
 

meldog_description/description/links/foot/RRF_link.urdf.xacro

@@ -3,7 +3,10 @@
 
     <xacro:link_macro 
         name="RRF_link" 
-        is_foot="1"
+
+        sc_length="${foot_col_length}"
+        sc_radius="${foot_col_radius}"
+
         vis_name="${foot_vis_stl_name}" 
         coll_name="empty"
 

meldog_description/description/links/hip/LFH_link.urdf.xacro

@@ -3,7 +3,10 @@
 
     <xacro:link_macro 
         name="LFH_link" 
-        is_foot="0"
+        
+        sc_length="${hip_col_length}"
+        sc_radius="${hip_col_radius}"
+        
         vis_name="${hip_vis_stl_name}" 
         coll_name="${hip_coll_stl_name}" 
 

meldog_description/description/links/hip/LRH_link.urdf.xacro

@@ -3,7 +3,10 @@
 
     <xacro:link_macro 
         name="LRH_link" 
-        is_foot="0"
+         
+        sc_length="${hip_col_length}"
+        sc_radius="${hip_col_radius}"
+
         vis_name="rear_left_hip.stl" 
         coll_name="rear_left_hip_collision.stl" 
 

meldog_description/description/links/hip/RFH_link.urdf.xacro

@@ -3,7 +3,10 @@
 
     <xacro:link_macro 
         name="RFH_link" 
-        is_foot="0"
+        
+        vis_name="${hip_vis_stl_name}" 
+        coll_name="${hip_coll_stl_name}" 
+
         vis_name="front_right_hip.stl" 
         coll_name="front_right_hip_collision.stl" 
 

meldog_description/description/links/hip/RRH_link.urdf.xacro

@@ -3,7 +3,10 @@
 
     <xacro:link_macro 
         name="RRH_link" 
-        is_foot="0"
+         
+        sc_length="${hip_col_length}"
+        sc_radius="${hip_col_radius}"
+
         vis_name="rear_right_hip.stl" 
         coll_name="rear_right_hip_collision.stl" 
 

meldog_description/description/links/lower_limb/LFLL_link.urdf.xacro

@@ -3,7 +3,10 @@
 
     <xacro:link_macro 
         name="LFLL_link" 
-        is_foot="0"
+
+        sc_length="${lower_limb_col_length}"
+        sc_radius="${lower_limb_col_radius}"
+
         vis_name="${lower_limb_vis_stl_name}" 
         coll_name="${lower_limb_coll_stl_name}" 
 

meldog_description/description/links/lower_limb/LRLL_link.urdf.xacro

@@ -3,7 +3,10 @@
 
     <xacro:link_macro 
         name="LRLL_link" 
-        is_foot="0"
+
+        sc_length="${lower_limb_col_length}"
+        sc_radius="${fower_limb_col_radius}"
+
         vis_name="${lower_limb_vis_stl_name}" 
         coll_name="${lower_limb_coll_stl_name}"