From 4a92b4f299bb06df8fea31324b1d2ccd10a3cbb2 Mon Sep 17 00:00:00 2001
From: YusukeKato <yusuke.kato@rt-net.jp>
Date: Fri, 3 Jul 2026 16:03:43 +0900
Subject: [PATCH 1/4] =?UTF-8?q?=E3=83=AA=E3=83=B3=E3=82=AF=E5=90=8D?=
 =?UTF-8?q?=E3=81=A8=E3=82=B8=E3=83=A7=E3=82=A4=E3=83=B3=E3=83=88=E5=90=8D?=
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---
 urdf/sciurus17.gazebo_ros2_control.xacro | 46 ++++++++--------
 urdf/sciurus17.ros2_control.xacro        | 38 ++++++-------
 urdf/sciurus17.urdf.xacro                | 68 ++----------------------
 urdf/sciurus17_body.xacro                | 18 +++----
 urdf/sciurus17_gazebo.xacro              | 50 ++++++++---------
 urdf/sciurus17_head.xacro                | 24 ++++-----
 urdf/sciurus17_left_arm.xacro            | 62 ++++++++++-----------
 urdf/sciurus17_left_gripper.xacro        | 20 +++----
 urdf/sciurus17_right_arm.xacro           | 62 ++++++++++-----------
 urdf/sciurus17_right_gripper.xacro       | 20 +++----
 10 files changed, 173 insertions(+), 235 deletions(-)

diff --git a/urdf/sciurus17.gazebo_ros2_control.xacro b/urdf/sciurus17.gazebo_ros2_control.xacro
index d5c19e2..42ff818 100644
--- a/urdf/sciurus17.gazebo_ros2_control.xacro
+++ b/urdf/sciurus17.gazebo_ros2_control.xacro
@@ -8,7 +8,7 @@
         <plugin>gz_ros2_control/GazeboSimSystem</plugin>
       </hardware>
 
-      <joint name="${NAME_JOINT_BODY}">
+      <joint name="waist_yaw_joint">
         <command_interface name="position">
           <param name="min">${JOINT_BODY_LOWER_LIMIT}</param>
           <param name="max">${JOINT_BODY_UPPER_LIMIT}</param>
@@ -20,7 +20,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_NECK_1}">
+      <joint name="neck_yaw_joint">
         <command_interface name="position">
           <param name="min">${JOINT_NECK_1_LOWER_LIMIT}</param>
           <param name="max">${JOINT_NECK_1_UPPER_LIMIT}</param>
@@ -32,7 +32,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_NECK_2}">
+      <joint name="neck_pitch_joint">
         <command_interface name="position">
           <param name="min">${JOINT_NECK_2_LOWER_LIMIT}</param>
           <param name="max">${JOINT_NECK_2_UPPER_LIMIT}</param>
@@ -44,7 +44,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_1}">
+      <joint name="r_arm_joint1">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}</param>
@@ -56,7 +56,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_2}">
+      <joint name="r_arm_joint2">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}</param>
@@ -68,7 +68,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_3}">
+      <joint name="r_arm_joint3">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}</param>
@@ -80,7 +80,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_4}">
+      <joint name="r_arm_joint4">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}</param>
@@ -92,7 +92,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_5}">
+      <joint name="r_arm_joint5">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}</param>
@@ -104,7 +104,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_6}">
+      <joint name="r_arm_joint6">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}</param>
@@ -116,7 +116,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_7}">
+      <joint name="r_arm_joint7">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}</param>
@@ -128,7 +128,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_GRIPPER_R_A}">
+      <joint name="r_gripper_joint">
         <command_interface name="position">
           <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}</param>
           <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}</param>
@@ -140,15 +140,15 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_GRIPPER_R_B}">
-        <param name="mimic">${NAME_JOINT_GRIPPER_R_A}</param>
+      <joint name="r_gripper_mimic_joint">
+        <param name="mimic">r_gripper_joint</param>
         <param name="multiplier">1</param>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_1}">
+      <joint name="l_arm_joint1">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}</param>
@@ -160,7 +160,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_2}">
+      <joint name="l_arm_joint2">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}</param>
@@ -172,7 +172,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_3}">
+      <joint name="l_arm_joint3">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}</param>
@@ -184,7 +184,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_4}">
+      <joint name="l_arm_joint4">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}</param>
@@ -196,7 +196,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_5}">
+      <joint name="l_arm_joint5">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}</param>
@@ -208,7 +208,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_6}">
+      <joint name="l_arm_joint6">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}</param>
@@ -220,7 +220,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_7}">
+      <joint name="l_arm_joint7">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}</param>
@@ -232,7 +232,7 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_GRIPPER_L_A}">
+      <joint name="l_gripper_joint">
         <command_interface name="position">
           <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}</param>
           <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}</param>
@@ -244,8 +244,8 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_GRIPPER_L_B}">
-        <param name="mimic">${NAME_JOINT_GRIPPER_L_A}</param>
+      <joint name="l_gripper_mimic_joint">
+        <param name="mimic">l_gripper_joint</param>
         <param name="multiplier">1</param>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
diff --git a/urdf/sciurus17.ros2_control.xacro b/urdf/sciurus17.ros2_control.xacro
index bf68e23..a815b68 100644
--- a/urdf/sciurus17.ros2_control.xacro
+++ b/urdf/sciurus17.ros2_control.xacro
@@ -17,7 +17,7 @@
         </xacro:unless>
       </hardware>
 
-      <joint name="${NAME_JOINT_BODY}">
+      <joint name="waist_yaw_joint">
         <command_interface name="position">
           <param name="min">${JOINT_BODY_LOWER_LIMIT}</param>
           <param name="max">${JOINT_BODY_UPPER_LIMIT}</param>
@@ -28,7 +28,7 @@
         <param name="current_to_effort">3.60</param>
       </joint>
 
-      <joint name="${NAME_JOINT_NECK_1}">
+      <joint name="neck_yaw_joint">
         <command_interface name="position">
           <param name="min">${JOINT_NECK_1_LOWER_LIMIT}</param>
           <param name="max">${JOINT_NECK_1_UPPER_LIMIT}</param>
@@ -39,7 +39,7 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_NECK_2}">
+      <joint name="neck_pitch_joint">
         <command_interface name="position">
           <param name="min">${JOINT_NECK_2_LOWER_LIMIT}</param>
           <param name="max">${JOINT_NECK_2_UPPER_LIMIT}</param>
@@ -50,7 +50,7 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_1}">
+      <joint name="r_arm_joint1">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}</param>
@@ -61,7 +61,7 @@
         <param name="current_to_effort">3.60</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_2}">
+      <joint name="r_arm_joint2">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}</param>
@@ -72,7 +72,7 @@
         <param name="current_to_effort">3.60</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_3}">
+      <joint name="r_arm_joint3">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}</param>
@@ -83,7 +83,7 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_4}">
+      <joint name="r_arm_joint4">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}</param>
@@ -94,7 +94,7 @@
         <param name="current_to_effort">2.00</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_5}">
+      <joint name="r_arm_joint5">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}</param>
@@ -105,7 +105,7 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_6}">
+      <joint name="r_arm_joint6">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}</param>
@@ -116,7 +116,7 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_R_7}">
+      <joint name="r_arm_joint7">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}</param>
@@ -127,7 +127,7 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_GRIPPER_R_A}">
+      <joint name="r_gripper_joint">
         <command_interface name="position">
           <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}</param>
           <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}</param>
@@ -138,7 +138,7 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_1}">
+      <joint name="l_arm_joint1">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}</param>
@@ -149,7 +149,7 @@
         <param name="current_to_effort">3.60</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_2}">
+      <joint name="l_arm_joint2">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}</param>
@@ -160,7 +160,7 @@
         <param name="current_to_effort">3.60</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_3}">
+      <joint name="l_arm_joint3">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}</param>
@@ -171,7 +171,7 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_4}">
+      <joint name="l_arm_joint4">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}</param>
@@ -182,7 +182,7 @@
         <param name="current_to_effort">2.00</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_5}">
+      <joint name="l_arm_joint5">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}</param>
@@ -193,7 +193,7 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_6}">
+      <joint name="l_arm_joint6">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}</param>
@@ -204,7 +204,7 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_ARM_L_7}">
+      <joint name="l_arm_joint7">
         <command_interface name="position">
           <param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}</param>
           <param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}</param>
@@ -215,7 +215,7 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_GRIPPER_L_A}">
+      <joint name="l_gripper_joint">
         <command_interface name="position">
           <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}</param>
           <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}</param>
diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
index 73945ba..2e5ffaa 100644
--- a/urdf/sciurus17.urdf.xacro
+++ b/urdf/sciurus17.urdf.xacro
@@ -48,68 +48,6 @@
     <color rgba="0.8984375 0.0 0.0703125 1"/>
   </material>
 
-  <xacro:property name="NAME_LINK_BASE" value="base_link"/>
-  <xacro:property name="NAME_LINK_BODY" value="body_link"/>
-
-  <xacro:property name="NAME_LINK_NECK_1" value="neck_yaw_link"/>
-  <xacro:property name="NAME_LINK_NECK_2" value="neck_pitch_link"/>
-
-  <xacro:property name="NAME_LINK_HEAD_CAMERA" value="${NAME_HEAD_CAMERA_PREFIX}_link"/>
-  <xacro:property name="NAME_LINK_CHEST_CAMERA" value="${NAME_CHEST_CAMERA_PREFIX}_link"/>
-
-  <xacro:property name="NAME_LINK_ARM_R_1" value="r_link1"/>
-  <xacro:property name="NAME_LINK_ARM_R_2" value="r_link2"/>
-  <xacro:property name="NAME_LINK_ARM_R_3" value="r_link3"/>
-  <xacro:property name="NAME_LINK_ARM_R_4" value="r_link4"/>
-  <xacro:property name="NAME_LINK_ARM_R_5" value="r_link5"/>
-  <xacro:property name="NAME_LINK_ARM_R_6" value="r_link6"/>
-  <xacro:property name="NAME_LINK_ARM_R_7" value="r_link7"/>
-  <xacro:property name="NAME_LINK_GRIPPER_R_A" value="r_gripperA_link"/>
-  <xacro:property name="NAME_LINK_GRIPPER_R_B" value="r_gripperB_link"/>
-  <xacro:property name="NAME_LINK_ARMARKER_R" value="r_link5_armarker"/>
-
-  <xacro:property name="NAME_LINK_ARM_L_1" value="l_link1"/>
-  <xacro:property name="NAME_LINK_ARM_L_2" value="l_link2"/>
-  <xacro:property name="NAME_LINK_ARM_L_3" value="l_link3"/>
-  <xacro:property name="NAME_LINK_ARM_L_4" value="l_link4"/>
-  <xacro:property name="NAME_LINK_ARM_L_5" value="l_link5"/>
-  <xacro:property name="NAME_LINK_ARM_L_6" value="l_link6"/>
-  <xacro:property name="NAME_LINK_ARM_L_7" value="l_link7"/>
-  <xacro:property name="NAME_LINK_GRIPPER_L_A" value="l_gripperA_link"/>
-  <xacro:property name="NAME_LINK_GRIPPER_L_B" value="l_gripperB_link"/>
-  <xacro:property name="NAME_LINK_ARMARKER_L" value="l_link5_armarker"/>
-
-  <xacro:property name="NAME_JOINT_BASE" value="base_link_to_world_joint"/>
-  <xacro:property name="NAME_JOINT_BODY" value="waist_yaw_joint"/>
-
-  <xacro:property name="NAME_JOINT_NECK_1" value="neck_yaw_joint"/>
-  <xacro:property name="NAME_JOINT_NECK_2" value="neck_pitch_joint"/>
-
-  <xacro:property name="NAME_JOINT_HEAD_CAMERA" value="head_camera_joint"/>
-  <xacro:property name="NAME_JOINT_CHEST_CAMERA" value="chest_camera_joint"/>
-
-  <xacro:property name="NAME_JOINT_ARM_R_1" value="r_arm_joint1"/>
-  <xacro:property name="NAME_JOINT_ARM_R_2" value="r_arm_joint2"/>
-  <xacro:property name="NAME_JOINT_ARM_R_3" value="r_arm_joint3"/>
-  <xacro:property name="NAME_JOINT_ARM_R_4" value="r_arm_joint4"/>
-  <xacro:property name="NAME_JOINT_ARM_R_5" value="r_arm_joint5"/>
-  <xacro:property name="NAME_JOINT_ARM_R_6" value="r_arm_joint6"/>
-  <xacro:property name="NAME_JOINT_ARM_R_7" value="r_arm_joint7"/>
-  <xacro:property name="NAME_JOINT_GRIPPER_R_A" value="r_gripper_joint"/>
-  <xacro:property name="NAME_JOINT_GRIPPER_R_B" value="r_gripper_mimic_joint"/>
-  <xacro:property name="NAME_JOINT_ARMARKER_R" value="r_arm_armarker"/>
-
-  <xacro:property name="NAME_JOINT_ARM_L_1" value="l_arm_joint1"/>
-  <xacro:property name="NAME_JOINT_ARM_L_2" value="l_arm_joint2"/>
-  <xacro:property name="NAME_JOINT_ARM_L_3" value="l_arm_joint3"/>
-  <xacro:property name="NAME_JOINT_ARM_L_4" value="l_arm_joint4"/>
-  <xacro:property name="NAME_JOINT_ARM_L_5" value="l_arm_joint5"/>
-  <xacro:property name="NAME_JOINT_ARM_L_6" value="l_arm_joint6"/>
-  <xacro:property name="NAME_JOINT_ARM_L_7" value="l_arm_joint7"/>
-  <xacro:property name="NAME_JOINT_GRIPPER_L_A" value="l_gripper_joint"/>
-  <xacro:property name="NAME_JOINT_GRIPPER_L_B" value="l_gripper_mimic_joint"/>
-  <xacro:property name="NAME_JOINT_ARMARKER_L" value="l_arm_armarker"/>
-
   <xacro:property name="EFFORT_LIMIT" value="4.0"/>
   <xacro:property name="VELOCITY_LIMIT" value="5.969211435"/>
 
@@ -176,9 +114,9 @@
   <!-- Used for fixing robot 'base_link'  to Gazebo 'world' -->
   <link name="world"/>
 
-  <joint name="${NAME_JOINT_BASE}" type="fixed">
+  <joint name="base_link_to_world_joint" type="fixed">
     <parent link="world"/>
-    <child link="${NAME_LINK_BASE}"/>
+    <child link="base_link"/>
   </joint>
 
   <xacro:sciurus17_body/>
@@ -207,7 +145,7 @@
 
     <joint name="${NAME_HEAD_CAMERA_PREFIX}_color_joint" type="fixed">
       <origin xyz="0 0.015 0" rpy="0 0 0" />
-      <parent link="${NAME_LINK_HEAD_CAMERA}" />
+      <parent link="head_camera_link" />
       <child link="${NAME_HEAD_CAMERA_PREFIX}_color_frame" />
     </joint>
 
diff --git a/urdf/sciurus17_body.xacro b/urdf/sciurus17_body.xacro
index 49011a2..6ea4ac2 100644
--- a/urdf/sciurus17_body.xacro
+++ b/urdf/sciurus17_body.xacro
@@ -4,7 +4,7 @@
 
   <xacro:macro name="sciurus17_body">
 
-    <link name="${NAME_LINK_BASE}">
+    <link name="base_link">
       <visual>
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/Base.stl" scale="1.0 1.0 1.0"/>
@@ -24,9 +24,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_BODY}" type="revolute">
-      <parent link="${NAME_LINK_BASE}" />
-      <child link="${NAME_LINK_BODY}" />
+    <joint name="waist_yaw_joint" type="revolute">
+      <parent link="base_link" />
+      <child link="body_link" />
       <origin xyz="0.0 0.0 0.1315" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_BODY_LOWER_LIMIT}" 
@@ -37,7 +37,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_BODY}">
+    <link name="body_link">
       <visual>
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/Body.stl" scale="1.0 1.0 1.0"/>
@@ -57,13 +57,13 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_CHEST_CAMERA}" type="fixed">
-      <parent link="${NAME_LINK_BODY}" />
-      <child link="${NAME_LINK_CHEST_CAMERA}" />
+    <joint name="chest_camera_joint" type="fixed">
+      <parent link="body_link" />
+      <child link="chest_camera_link" />
       <origin xyz="0.114576 0.0 0.217659" rpy="-2.7925268032 0 -1.5707963268"/>
     </joint>
 
-    <link name="${NAME_LINK_CHEST_CAMERA}"/>
+    <link name="chest_camera_link"/>
 
   </xacro:macro>
 
diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro
index 5bbecfe..c42f53c 100644
--- a/urdf/sciurus17_gazebo.xacro
+++ b/urdf/sciurus17_gazebo.xacro
@@ -36,19 +36,19 @@
       </plugin>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_BASE}">
+    <gazebo reference="base_link">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_BODY}">
+    <gazebo reference="body_link">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_NECK_1}">
+    <gazebo reference="neck_yaw_link">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_NECK_2}">
+    <gazebo reference="neck_pitch_link">
       <xacro:material_gazebo_white/>
     </gazebo>
 
@@ -109,13 +109,13 @@
     </xacro:if>
 
     <xacro:if value="${USE_GAZEBO_CHEST_CAMERA}">
-      <gazebo reference="${NAME_LINK_CHEST_CAMERA}">
+      <gazebo reference="chest_camera_link">
         <sensor name="${NAME_CHEST_CAMERA_PREFIX}" type="camera">
-          <pose relative_to="${NAME_LINK_CHEST_CAMERA}">0 0 0 ${radians(90)} ${radians(-90)} 0</pose>
+          <pose relative_to="chest_camera_link">0 0 0 ${radians(90)} ${radians(-90)} 0</pose>
           <update_rate>10</update_rate>
           <always_on>true</always_on>
           <topic>${NAME_CHEST_CAMERA_PREFIX}/image_raw</topic>
-          <frame_id>${NAME_LINK_CHEST_CAMERA}</frame_id>
+          <frame_id>chest_camera_link</frame_id>
           <camera name="${NAME_CHEST_CAMERA_PREFIX}">
             <xacro:property name="chest_camera_width" value="640"/>
             <xacro:property name="chest_camera_height" value="360"/>
@@ -152,81 +152,81 @@
       </gazebo>
     </xacro:if>
 
-    <gazebo reference="${NAME_LINK_ARM_R_1}">
+    <gazebo reference="r_link1">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_R_2}">
+    <gazebo reference="r_link2">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_R_3}">
+    <gazebo reference="r_link3">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_R_4}">
+    <gazebo reference="r_link4">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_R_5}">
+    <gazebo reference="r_link5">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_R_6}">
+    <gazebo reference="r_link6">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_R_7}">
+    <gazebo reference="r_link7">
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_GRIPPER_R_A}">
+    <gazebo reference="r_gripperA_link">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_GRIPPER_R_B}">
+    <gazebo reference="r_gripperB_link">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_L_1}">
+    <gazebo reference="l_link1">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_L_2}">
+    <gazebo reference="l_link2">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_L_3}">
+    <gazebo reference="l_link3">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_L_4}">
+    <gazebo reference="l_link4">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_L_5}">
+    <gazebo reference="l_link5">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_L_6}">
+    <gazebo reference="l_link6">
       <xacro:material_gazebo_white/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_ARM_L_7}">
+    <gazebo reference="l_link7">
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_GRIPPER_L_A}">
+    <gazebo reference="l_gripperA_link">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_GRIPPER_L_B}">
+    <gazebo reference="l_gripperB_link">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>
diff --git a/urdf/sciurus17_head.xacro b/urdf/sciurus17_head.xacro
index 228689d..30c18c9 100644
--- a/urdf/sciurus17_head.xacro
+++ b/urdf/sciurus17_head.xacro
@@ -4,9 +4,9 @@
 
   <xacro:macro name="sciurus17_head">
 
-    <joint name="${NAME_JOINT_NECK_1}" type="revolute">
-      <parent link="${NAME_LINK_BODY}" />
-      <child link="${NAME_LINK_NECK_1}" />
+    <joint name="neck_yaw_joint" type="revolute">
+      <parent link="body_link" />
+      <child link="neck_yaw_link" />
       <origin xyz="0.08083 0.0 0.3395" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_NECK_1_LOWER_LIMIT}" 
@@ -17,7 +17,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_NECK_1}">
+    <link name="neck_yaw_link">
       <visual>
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/Neck1.stl" scale="1.0 1.0 1.0"/>
@@ -36,9 +36,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_NECK_2}" type="revolute">
-      <parent link="${NAME_LINK_NECK_1}" />
-      <child link="${NAME_LINK_NECK_2}" />
+    <joint name="neck_pitch_joint" type="revolute">
+      <parent link="neck_yaw_link" />
+      <child link="neck_pitch_link" />
       <origin xyz="0.0 0.0 0.054" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_NECK_2_LOWER_LIMIT}" 
@@ -49,7 +49,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_NECK_2}">
+    <link name="neck_pitch_link">
       <visual>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -70,13 +70,13 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_HEAD_CAMERA}" type="fixed">
-      <parent link="${NAME_LINK_NECK_2}" />
-      <child link="${NAME_LINK_HEAD_CAMERA}" />
+    <joint name="head_camera_joint" type="fixed">
+      <parent link="neck_pitch_link" />
+      <child link="head_camera_link" />
       <origin xyz="0.081785 0.020 0.091" rpy="0 0 0"/>
     </joint>
 
-    <link name="${NAME_LINK_HEAD_CAMERA}"/>
+    <link name="head_camera_link"/>
 
   </xacro:macro>
 
diff --git a/urdf/sciurus17_left_arm.xacro b/urdf/sciurus17_left_arm.xacro
index 11979d3..a756cd4 100644
--- a/urdf/sciurus17_left_arm.xacro
+++ b/urdf/sciurus17_left_arm.xacro
@@ -4,9 +4,9 @@
 
   <xacro:macro name="sciurus17_left_arm">
 
-    <joint name="${NAME_JOINT_ARM_L_1}" type="revolute">
-      <parent link="${NAME_LINK_BODY}" />
-      <child link="${NAME_LINK_ARM_L_1}" />
+    <joint name="l_arm_joint1" type="revolute">
+      <parent link="body_link" />
+      <child link="l_link1" />
       <origin xyz="0.08083 0.0965 0.2885" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_L_1_LOWER_LIMIT}" 
@@ -17,7 +17,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_L_1}">
+    <link name="l_link1">
       <visual>
         <origin rpy="-1.5708 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -38,9 +38,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_L_2}" type="revolute">
-      <parent link="${NAME_LINK_ARM_L_1}" />
-      <child link="${NAME_LINK_ARM_L_2}" />
+    <joint name="l_arm_joint2" type="revolute">
+      <parent link="l_link1" />
+      <child link="l_link2" />
       <origin xyz="0.0 0.064 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_L_2_LOWER_LIMIT}" 
@@ -51,7 +51,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_L_2}">
+    <link name="l_link2">
       <visual>
         <origin rpy="0 -1.5708 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -72,9 +72,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_L_3}" type="revolute">
-      <parent link="${NAME_LINK_ARM_L_2}" />
-      <child link="${NAME_LINK_ARM_L_3}" />
+    <joint name="l_arm_joint3" type="revolute">
+      <parent link="l_link2" />
+      <child link="l_link3" />
       <origin xyz="0.0 0.065 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_L_3_LOWER_LIMIT}"
@@ -85,7 +85,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_L_3}">
+    <link name="l_link3">
       <visual>
         <origin rpy="-1.5708 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -106,9 +106,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_L_4}" type="revolute">
-      <parent link="${NAME_LINK_ARM_L_3}" />
-      <child link="${NAME_LINK_ARM_L_4}" />
+    <joint name="l_arm_joint4" type="revolute">
+      <parent link="l_link3" />
+      <child link="l_link4" />
       <origin xyz="0.0 0.185 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_L_4_LOWER_LIMIT}" 
@@ -119,7 +119,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_L_4}">
+    <link name="l_link4">
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -140,9 +140,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_L_5}" type="revolute">
-      <parent link="${NAME_LINK_ARM_L_4}" />
-      <child link="${NAME_LINK_ARM_L_5}" />
+    <joint name="l_arm_joint5" type="revolute">
+      <parent link="l_link4" />
+      <child link="l_link5" />
       <origin xyz="0.0 0.121 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_L_5_LOWER_LIMIT}" 
@@ -153,7 +153,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_L_5}">
+    <link name="l_link5">
       <visual>
         <origin rpy="-1.5708 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -192,13 +192,13 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARMARKER_L}" type="fixed">
-      <parent link="${NAME_LINK_ARM_L_5}" />
-      <child link="${NAME_LINK_ARMARKER_L}" />
+    <joint name="l_arm_armarker" type="fixed">
+      <parent link="l_link5" />
+      <child link="l_link5_armarker" />
       <origin xyz="0.0467 0.093 0.0" rpy="0 0 0"/>
     </joint>
 
-    <link name="${NAME_LINK_ARMARKER_L}">
+    <link name="l_link5_armarker">
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -214,9 +214,9 @@
       </collision>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_L_6}" type="revolute">
-      <parent link="${NAME_LINK_ARM_L_5}" />
-      <child link="${NAME_LINK_ARM_L_6}" />
+    <joint name="l_arm_joint6" type="revolute">
+      <parent link="l_link5" />
+      <child link="l_link6" />
       <origin xyz="0.0 0.129 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_L_6_LOWER_LIMIT}" 
@@ -227,7 +227,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_L_6}">
+    <link name="l_link6">
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -248,9 +248,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_L_7}" type="revolute">
-      <parent link="${NAME_LINK_ARM_L_6}" />
-      <child link="${NAME_LINK_ARM_L_7}" />
+    <joint name="l_arm_joint7" type="revolute">
+      <parent link="l_link6" />
+      <child link="l_link7" />
       <origin xyz="0.0 0.0191 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_L_7_LOWER_LIMIT}" 
diff --git a/urdf/sciurus17_left_gripper.xacro b/urdf/sciurus17_left_gripper.xacro
index bfc5b06..4312607 100644
--- a/urdf/sciurus17_left_gripper.xacro
+++ b/urdf/sciurus17_left_gripper.xacro
@@ -4,7 +4,7 @@
 
   <xacro:macro name="sciurus17_left_gripper">
 
-    <link name="${NAME_LINK_ARM_L_7}">
+    <link name="l_link7">
       <visual>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -25,9 +25,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_GRIPPER_L_A}" type="revolute">
-      <parent link="${NAME_LINK_ARM_L_7}" />
-      <child link="${NAME_LINK_GRIPPER_L_A}" />
+    <joint name="l_gripper_joint" type="revolute">
+      <parent link="l_link7" />
+      <child link="l_gripperA_link" />
       <origin xyz="0.012 0.024 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_GRIPPER_L_LOWER_LIMIT}" 
@@ -38,7 +38,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_GRIPPER_L_A}">
+    <link name="l_gripperA_link">
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -59,9 +59,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_GRIPPER_L_B}" type="revolute">
-      <parent link="${NAME_LINK_ARM_L_7}" />
-      <child link="${NAME_LINK_GRIPPER_L_B}" />
+    <joint name="l_gripper_mimic_joint" type="revolute">
+      <parent link="l_link7" />
+      <child link="l_gripperB_link" />
       <origin xyz="-0.012 0.024 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_GRIPPER_L_LOWER_LIMIT}" 
@@ -69,11 +69,11 @@
         effort="${EFFORT_LIMIT}" 
         velocity="${VELOCITY_LIMIT}"/>
       <axis xyz="0 0 -1"/>
-      <mimic joint="${NAME_JOINT_GRIPPER_L_A}" multiplier="1" offset="0"/>
+      <mimic joint="l_gripper_joint" multiplier="1" offset="0"/>
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_GRIPPER_L_B}">
+    <link name="l_gripperB_link">
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
diff --git a/urdf/sciurus17_right_arm.xacro b/urdf/sciurus17_right_arm.xacro
index 8ceef8e..9c2e451 100644
--- a/urdf/sciurus17_right_arm.xacro
+++ b/urdf/sciurus17_right_arm.xacro
@@ -4,9 +4,9 @@
 
   <xacro:macro name="sciurus17_right_arm">
 
-    <joint name="${NAME_JOINT_ARM_R_1}" type="revolute">
-      <parent link="${NAME_LINK_BODY}" />
-      <child link="${NAME_LINK_ARM_R_1}" />
+    <joint name="r_arm_joint1" type="revolute">
+      <parent link="body_link" />
+      <child link="r_link1" />
       <origin xyz="0.08083 -0.0965 0.2885" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_R_1_LOWER_LIMIT}" 
@@ -17,7 +17,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_R_1}">
+    <link name="r_link1">
       <visual>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -38,9 +38,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_R_2}" type="revolute">
-      <parent link="${NAME_LINK_ARM_R_1}" />
-      <child link="${NAME_LINK_ARM_R_2}" />
+    <joint name="r_arm_joint2" type="revolute">
+      <parent link="r_link1" />
+      <child link="r_link2" />
       <origin xyz="0.0 -0.064 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_R_2_LOWER_LIMIT}" 
@@ -51,7 +51,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_R_2}">
+    <link name="r_link2">
       <visual>
         <origin rpy="0 1.5708 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -72,9 +72,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_R_3}" type="revolute">
-      <parent link="${NAME_LINK_ARM_R_2}" />
-      <child link="${NAME_LINK_ARM_R_3}" />
+    <joint name="r_arm_joint3" type="revolute">
+      <parent link="r_link2" />
+      <child link="r_link3" />
       <origin xyz="0.0 -0.065 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_R_3_LOWER_LIMIT}"
@@ -85,7 +85,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_R_3}">
+    <link name="r_link3">
       <visual>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -106,9 +106,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_R_4}" type="revolute">
-      <parent link="${NAME_LINK_ARM_R_3}" />
-      <child link="${NAME_LINK_ARM_R_4}" />
+    <joint name="r_arm_joint4" type="revolute">
+      <parent link="r_link3" />
+      <child link="r_link4" />
       <origin xyz="0.0 -0.185 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_R_4_LOWER_LIMIT}" 
@@ -119,7 +119,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_R_4}">
+    <link name="r_link4">
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -140,9 +140,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_R_5}" type="revolute">
-      <parent link="${NAME_LINK_ARM_R_4}" />
-      <child link="${NAME_LINK_ARM_R_5}" />
+    <joint name="r_arm_joint5" type="revolute">
+      <parent link="r_link4" />
+      <child link="r_link5" />
       <origin xyz="0.0 -0.121 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_R_5_LOWER_LIMIT}" 
@@ -153,7 +153,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_R_5}">
+    <link name="r_link5">
       <visual>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -192,13 +192,13 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARMARKER_R}" type="fixed">
-      <parent link="${NAME_LINK_ARM_R_5}" />
-      <child link="${NAME_LINK_ARMARKER_R}" />
+    <joint name="r_arm_armarker" type="fixed">
+      <parent link="r_link5" />
+      <child link="r_link5_armarker" />
       <origin xyz="0.0467 -0.093 0.0" rpy="0 0 0"/>
     </joint>
 
-    <link name="${NAME_LINK_ARMARKER_R}">
+    <link name="r_link5_armarker">
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -214,9 +214,9 @@
       </collision>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_R_6}" type="revolute">
-      <parent link="${NAME_LINK_ARM_R_5}" />
-      <child link="${NAME_LINK_ARM_R_6}" />
+    <joint name="r_arm_joint6" type="revolute">
+      <parent link="r_link5" />
+      <child link="r_link6" />
       <origin xyz="0.0 -0.129 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_R_6_LOWER_LIMIT}" 
@@ -227,7 +227,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_ARM_R_6}">
+    <link name="r_link6">
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -248,9 +248,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_ARM_R_7}" type="revolute">
-      <parent link="${NAME_LINK_ARM_R_6}" />
-      <child link="${NAME_LINK_ARM_R_7}" />
+    <joint name="r_arm_joint7" type="revolute">
+      <parent link="r_link6" />
+      <child link="r_link7" />
       <origin xyz="0.0 -0.0191 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_ARM_R_7_LOWER_LIMIT}" 
diff --git a/urdf/sciurus17_right_gripper.xacro b/urdf/sciurus17_right_gripper.xacro
index cb2df2f..4e07189 100644
--- a/urdf/sciurus17_right_gripper.xacro
+++ b/urdf/sciurus17_right_gripper.xacro
@@ -4,7 +4,7 @@
 
   <xacro:macro name="sciurus17_right_gripper">
 
-    <link name="${NAME_LINK_ARM_R_7}">
+    <link name="r_link7">
       <visual>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
@@ -25,9 +25,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_GRIPPER_R_A}" type="revolute">
-      <parent link="${NAME_LINK_ARM_R_7}" />
-      <child link="${NAME_LINK_GRIPPER_R_A}" />
+    <joint name="r_gripper_joint" type="revolute">
+      <parent link="r_link7" />
+      <child link="r_gripperA_link" />
       <origin xyz="0.012 -0.024 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_GRIPPER_R_LOWER_LIMIT}" 
@@ -38,7 +38,7 @@
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_GRIPPER_R_A}">
+    <link name="r_gripperA_link">
       <visual>
         <!--origin rpy="3.14159 0 0" xyz="0.0 0.0 0.0"/-->
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -60,9 +60,9 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_GRIPPER_R_B}" type="revolute">
-      <parent link="${NAME_LINK_ARM_R_7}" />
-      <child link="${NAME_LINK_GRIPPER_R_B}" />
+    <joint name="r_gripper_mimic_joint" type="revolute">
+      <parent link="r_link7" />
+      <child link="r_gripperB_link" />
       <origin xyz="-0.012 -0.024 0.0" rpy="0 0 0"/>
       <limit 
         lower="${JOINT_GRIPPER_R_LOWER_LIMIT}" 
@@ -70,11 +70,11 @@
         effort="${EFFORT_LIMIT}" 
         velocity="${VELOCITY_LIMIT}"/>
       <axis xyz="0 0 -1"/>
-      <mimic joint="${NAME_JOINT_GRIPPER_R_A}" multiplier="1" offset="0"/>
+      <mimic joint="r_gripper_joint" multiplier="1" offset="0"/>
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_GRIPPER_R_B}">
+    <link name="r_gripperB_link">
       <visual>
         <!-- origin rpy="3.14159 0 0" xyz="0.0 0.0 0.0"/ -->
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>

From 681404dc231bcd067027e13657df85ef39b6d7c4 Mon Sep 17 00:00:00 2001
From: YusukeKato <yusuke.kato@rt-net.jp>
Date: Fri, 3 Jul 2026 16:10:22 +0900
Subject: [PATCH 2/4] =?UTF-8?q?=E3=83=9E=E3=83=86=E3=83=AA=E3=82=A2?=
 =?UTF-8?q?=E3=83=AB=E3=81=AEproperty=E5=AE=9A=E7=BE=A9=E3=82=92=E5=BB=83?=
 =?UTF-8?q?=E6=AD=A2?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 urdf/sciurus17.urdf.xacro          |  5 -----
 urdf/sciurus17_body.xacro          |  4 ++--
 urdf/sciurus17_head.xacro          |  4 ++--
 urdf/sciurus17_left_arm.xacro      | 14 +++++++-------
 urdf/sciurus17_left_gripper.xacro  |  6 +++---
 urdf/sciurus17_right_arm.xacro     | 14 +++++++-------
 urdf/sciurus17_right_gripper.xacro |  6 +++---
 7 files changed, 24 insertions(+), 29 deletions(-)

diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
index 2e5ffaa..2afbb31 100644
--- a/urdf/sciurus17.urdf.xacro
+++ b/urdf/sciurus17.urdf.xacro
@@ -105,11 +105,6 @@
   <!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
   <xacro:property name="JOINT_GRIPPER_L_UPPER_LIMIT" value="${radians(0.05)}"/>
 
-  <xacro:property name="COLOR_LINK_BASE" value="white"/>
-  <xacro:property name="COLOR_LINK_BODY" value="white"/>
-  <xacro:property name="COLOR_LINK_HEAD" value="white"/>
-  <xacro:property name="COLOR_LINK_ARM" value="white"/>
-  <xacro:property name="COLOR_LINK_GRIPPER" value="red"/>
 
   <!-- Used for fixing robot 'base_link'  to Gazebo 'world' -->
   <link name="world"/>
diff --git a/urdf/sciurus17_body.xacro b/urdf/sciurus17_body.xacro
index 6ea4ac2..6cc7577 100644
--- a/urdf/sciurus17_body.xacro
+++ b/urdf/sciurus17_body.xacro
@@ -9,7 +9,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/Base.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_BASE}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -42,7 +42,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/Body.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_BODY}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
diff --git a/urdf/sciurus17_head.xacro b/urdf/sciurus17_head.xacro
index 30c18c9..c6c50d8 100644
--- a/urdf/sciurus17_head.xacro
+++ b/urdf/sciurus17_head.xacro
@@ -22,7 +22,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/Neck1.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_HEAD}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <geometry>
@@ -55,7 +55,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/Neck2.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_HEAD}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
diff --git a/urdf/sciurus17_left_arm.xacro b/urdf/sciurus17_left_arm.xacro
index a756cd4..23fb78b 100644
--- a/urdf/sciurus17_left_arm.xacro
+++ b/urdf/sciurus17_left_arm.xacro
@@ -23,7 +23,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_Link1.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="-1.5708 0 0" xyz="0.0 0.0 0.0"/>
@@ -57,7 +57,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_Link2.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="0 -1.5708 0" xyz="0.0 0.0 0.0"/>
@@ -91,7 +91,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_Link3.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="-1.5708 0 0" xyz="0.0 0.0 0.0"/>
@@ -125,7 +125,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_Link4.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -159,7 +159,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_Link5.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <visual>
         <origin xyz="0.032 0.074 -0.0346" rpy="3.1415926 0 2.0944"/>
@@ -204,7 +204,7 @@
         <geometry>
           <cylinder length="0.001" radius="0.001"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -233,7 +233,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_Link6.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
diff --git a/urdf/sciurus17_left_gripper.xacro b/urdf/sciurus17_left_gripper.xacro
index 4312607..0738f81 100644
--- a/urdf/sciurus17_left_gripper.xacro
+++ b/urdf/sciurus17_left_gripper.xacro
@@ -10,7 +10,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_Link7.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_GRIPPER}"/>
+        <material name="red"/>
       </visual>
       <collision>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
@@ -44,7 +44,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_GripperA.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_GRIPPER}"/>
+        <material name="red"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -79,7 +79,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_GripperB.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_GRIPPER}"/>
+        <material name="red"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
diff --git a/urdf/sciurus17_right_arm.xacro b/urdf/sciurus17_right_arm.xacro
index 9c2e451..a897bae 100644
--- a/urdf/sciurus17_right_arm.xacro
+++ b/urdf/sciurus17_right_arm.xacro
@@ -23,7 +23,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/R_Link1.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
@@ -57,7 +57,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/R_Link2.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="0 1.5708 0" xyz="0.0 0.0 0.0"/>
@@ -91,7 +91,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_Link3.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
@@ -125,7 +125,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/R_Link4.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -159,7 +159,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/R_Link5.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <visual>
         <origin xyz="0.032 -0.074 0.0345" rpy="0 0 -2.0944"/>
@@ -204,7 +204,7 @@
         <geometry>
           <cylinder length="0.001" radius="0.001"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -233,7 +233,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/R_Link6.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_ARM}"/>
+        <material name="white"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
diff --git a/urdf/sciurus17_right_gripper.xacro b/urdf/sciurus17_right_gripper.xacro
index 4e07189..e7e07e9 100644
--- a/urdf/sciurus17_right_gripper.xacro
+++ b/urdf/sciurus17_right_gripper.xacro
@@ -10,7 +10,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/R_Link7.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_GRIPPER}"/>
+        <material name="red"/>
       </visual>
       <collision>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
@@ -45,7 +45,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/R_GripperA.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_GRIPPER}"/>
+        <material name="red"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -81,7 +81,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/R_GripperB.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_GRIPPER}"/>
+        <material name="red"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>

From 1b2248bbd7712dec5da4d198dc1f1e26daf43b1d Mon Sep 17 00:00:00 2001
From: YusukeKato <yusuke.kato@rt-net.jp>
Date: Fri, 3 Jul 2026 17:05:33 +0900
Subject: [PATCH 3/4] =?UTF-8?q?=E5=BC=95=E6=95=B0=E3=81=AEproperty?=
 =?UTF-8?q?=E5=AE=9A=E7=BE=A9=E3=82=92=E5=BB=83=E6=AD=A2?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 urdf/sciurus17.ros2_control.xacro | 19 ++++++++++++-------
 urdf/sciurus17.urdf.xacro         | 22 +++++++++++-----------
 urdf/sciurus17_gazebo.xacro       | 12 ++++++++----
 3 files changed, 31 insertions(+), 22 deletions(-)

diff --git a/urdf/sciurus17.ros2_control.xacro b/urdf/sciurus17.ros2_control.xacro
index a815b68..3a584ab 100644
--- a/urdf/sciurus17.ros2_control.xacro
+++ b/urdf/sciurus17.ros2_control.xacro
@@ -1,19 +1,24 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="sciurus17_ros2_control_settings">
+  <xacro:macro name="sciurus17_ros2_control_settings"
+               params="use_mock_components:=false
+                       port_name:=/dev/sciurus17spine
+                       baudrate:=3000000
+                       timeout_seconds:=1.0
+                       manipulator_config_file_path:=''">
 
     <ros2_control name="sciurus17" type="system">
       <hardware>
-        <xacro:if value="${USE_MOCK_COMPONENTS}">
+        <xacro:if value="${use_mock_components}">
           <plugin>mock_components/GenericSystem</plugin>
         </xacro:if>
-        <xacro:unless value="${USE_MOCK_COMPONENTS}">
+        <xacro:unless value="${use_mock_components}">
           <plugin>sciurus17_hardware/Sciurus17Hardware</plugin>
-          <param name="port_name">${PORT_NAME}</param>
-          <param name="baudrate">${BAUDRATE}</param>
-          <param name="timeout_seconds">${TIMEOUT_SECONDS}</param>
-          <param name="manipulator_config_file_path">${MANIPULATOR_CONFIG_FILE_PATH}</param>
+          <param name="port_name">${port_name}</param>
+          <param name="baudrate">${baudrate}</param>
+          <param name="timeout_seconds">${timeout_seconds}</param>
+          <param name="manipulator_config_file_path">${manipulator_config_file_path}</param>
         </xacro:unless>
       </hardware>
 
diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
index 2afbb31..bdedf96 100644
--- a/urdf/sciurus17.urdf.xacro
+++ b/urdf/sciurus17.urdf.xacro
@@ -27,15 +27,6 @@
   <xacro:arg name="manipulator_config_file_path" default="" />
   <xacro:arg name="gz_control_config_package" default="" />
   <xacro:arg name="gz_control_config_file_path" default="" />
-  <xacro:property name="USE_GAZEBO_HEAD_CAMERA" value="$(arg use_gazebo_head_camera)"/>
-  <xacro:property name="USE_GAZEBO_CHEST_CAMERA" value="$(arg use_gazebo_chest_camera)"/>
-  <xacro:property name="USE_MOCK_COMPONENTS" value="$(arg use_mock_components)"/>
-  <xacro:property name="PORT_NAME" value="$(arg port_name)"/>
-  <xacro:property name="BAUDRATE" value="$(arg baudrate)"/>
-  <xacro:property name="TIMEOUT_SECONDS" value="$(arg timeout_seconds)"/>
-  <xacro:property name="MANIPULATOR_CONFIG_FILE_PATH" value="$(arg manipulator_config_file_path)"/>
-  <xacro:property name="GZ_CONTROL_CONFIG_PACKAGE" value="$(arg gz_control_config_package)"/>
-  <xacro:property name="GZ_CONTROL_CONFIG_FILE_PATH" value="$(arg gz_control_config_file_path)"/>
 
   <xacro:property name="NAME_HEAD_CAMERA_PREFIX" value="head_camera"/>
   <xacro:property name="NAME_CHEST_CAMERA_PREFIX" value="chest_camera"/>
@@ -128,13 +119,22 @@
 
   <xacro:unless value="$(arg use_gazebo)">
 
-    <xacro:sciurus17_ros2_control_settings/>
+    <xacro:sciurus17_ros2_control_settings
+      use_mock_components="$(arg use_mock_components)"
+      port_name="$(arg port_name)"
+      baudrate="$(arg baudrate)"
+      timeout_seconds="$(arg timeout_seconds)"
+      manipulator_config_file_path="$(arg manipulator_config_file_path)"/>
 
   </xacro:unless>
 
   <xacro:if value="$(arg use_gazebo)">
 
-    <xacro:gazebo_robot_settings/>
+    <xacro:gazebo_robot_settings
+      use_gazebo_head_camera="$(arg use_gazebo_head_camera)"
+      use_gazebo_chest_camera="$(arg use_gazebo_chest_camera)"
+      gz_control_config_package="$(arg gz_control_config_package)"
+      gz_control_config_file_path="$(arg gz_control_config_file_path)"/>
 
     <xacro:sciurus17_gazebo_ros2_control_settings/>
 
diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro
index c42f53c..1d5ce08 100644
--- a/urdf/sciurus17_gazebo.xacro
+++ b/urdf/sciurus17_gazebo.xacro
@@ -29,10 +29,14 @@
     </visual>
   </xacro:macro>
 
-  <xacro:macro name="gazebo_robot_settings">
+  <xacro:macro name="gazebo_robot_settings"
+               params="use_gazebo_head_camera:=false
+               use_gazebo_chest_camera:=false
+               gz_control_config_package:=''
+               gz_control_config_file_path:=''">
     <gazebo>
       <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-        <parameters>$(find ${GZ_CONTROL_CONFIG_PACKAGE})/${GZ_CONTROL_CONFIG_FILE_PATH}</parameters>
+        <parameters>$(find ${gz_control_config_package})/${gz_control_config_file_path}</parameters>
       </plugin>
     </gazebo>
 
@@ -58,7 +62,7 @@
       </plugin>
     </gazebo>
 
-    <xacro:if value="${USE_GAZEBO_HEAD_CAMERA}">
+    <xacro:if value="${use_gazebo_head_camera}">
       <gazebo reference="${NAME_HEAD_CAMERA_PREFIX}_color_frame">
         <sensor name="sim_realsense_d415" type="rgbd_camera">
           <update_rate>10</update_rate>
@@ -108,7 +112,7 @@
       </gazebo>
     </xacro:if>
 
-    <xacro:if value="${USE_GAZEBO_CHEST_CAMERA}">
+    <xacro:if value="${use_gazebo_chest_camera}">
       <gazebo reference="chest_camera_link">
         <sensor name="${NAME_CHEST_CAMERA_PREFIX}" type="camera">
           <pose relative_to="chest_camera_link">0 0 0 ${radians(90)} ${radians(-90)} 0</pose>

From 8b96d47577f5d804ca0b94f4e2e47e7cafd5d3c5 Mon Sep 17 00:00:00 2001
From: YusukeKato <yusuke.kato@rt-net.jp>
Date: Mon, 6 Jul 2026 14:19:26 +0900
Subject: [PATCH 4/4] =?UTF-8?q?=E3=82=AB=E3=83=A1=E3=83=A9=E3=83=AA?=
 =?UTF-8?q?=E3=83=B3=E3=82=AF=E5=90=8D=E3=81=AEprefix=E3=82=92=E5=BB=83?=
 =?UTF-8?q?=E6=AD=A2?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 urdf/sciurus17.urdf.xacro   | 17 +++++++----------
 urdf/sciurus17_gazebo.xacro | 14 +++++++-------
 2 files changed, 14 insertions(+), 17 deletions(-)

diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
index bdedf96..5f0fe19 100644
--- a/urdf/sciurus17.urdf.xacro
+++ b/urdf/sciurus17.urdf.xacro
@@ -28,9 +28,6 @@
   <xacro:arg name="gz_control_config_package" default="" />
   <xacro:arg name="gz_control_config_file_path" default="" />
 
-  <xacro:property name="NAME_HEAD_CAMERA_PREFIX" value="head_camera"/>
-  <xacro:property name="NAME_CHEST_CAMERA_PREFIX" value="chest_camera"/>
-
   <material name="white">
     <color rgba="0.9 0.9 0.9 1.0"/>
   </material>
@@ -138,21 +135,21 @@
 
     <xacro:sciurus17_gazebo_ros2_control_settings/>
 
-    <joint name="${NAME_HEAD_CAMERA_PREFIX}_color_joint" type="fixed">
+    <joint name="head_camera_color_joint" type="fixed">
       <origin xyz="0 0.015 0" rpy="0 0 0" />
       <parent link="head_camera_link" />
-      <child link="${NAME_HEAD_CAMERA_PREFIX}_color_frame" />
+      <child link="head_camera_color_frame" />
     </joint>
 
-    <link name="${NAME_HEAD_CAMERA_PREFIX}_color_frame"/>
+    <link name="head_camera_color_frame"/>
 
-    <joint name="${NAME_HEAD_CAMERA_PREFIX}_color_optical_joint" type="fixed">
+    <joint name="head_camera_color_optical_joint" type="fixed">
       <origin xyz="0 0 0" rpy="${radians(-90)} 0 ${radians(-90)}" />
-      <parent link="${NAME_HEAD_CAMERA_PREFIX}_color_frame" />
-      <child link="${NAME_HEAD_CAMERA_PREFIX}_color_optical_frame" />
+      <parent link="head_camera_color_frame" />
+      <child link="head_camera_color_optical_frame" />
     </joint>
 
-    <link name="${NAME_HEAD_CAMERA_PREFIX}_color_optical_frame"/>
+    <link name="head_camera_color_optical_frame"/>
 
   </xacro:if>
 </robot>
diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro
index 1d5ce08..4acdca6 100644
--- a/urdf/sciurus17_gazebo.xacro
+++ b/urdf/sciurus17_gazebo.xacro
@@ -63,12 +63,12 @@
     </gazebo>
 
     <xacro:if value="${use_gazebo_head_camera}">
-      <gazebo reference="${NAME_HEAD_CAMERA_PREFIX}_color_frame">
+      <gazebo reference="head_camera_color_frame">
         <sensor name="sim_realsense_d415" type="rgbd_camera">
           <update_rate>10</update_rate>
           <always_on>true</always_on>
-          <topic>${NAME_HEAD_CAMERA_PREFIX}</topic>
-          <frame_id>${NAME_HEAD_CAMERA_PREFIX}_color_frame</frame_id>
+          <topic>head_camera</topic>
+          <frame_id>head_camera_color_frame</frame_id>
           <camera name="realsense_d415">
             <xacro:property name="head_camera_width" value="640"/>
             <xacro:property name="head_camera_height" value="360"/>
@@ -89,7 +89,7 @@
                 <far>3.0</far>
               </clip>
             </depth_camera>
-            <optical_frame_id>${NAME_HEAD_CAMERA_PREFIX}_color_optical_frame</optical_frame_id>
+            <optical_frame_id>head_camera_color_optical_frame</optical_frame_id>
             <lens>
               <intrinsics>
                 <fx>${head_camera_focal_length}</fx>
@@ -114,13 +114,13 @@
 
     <xacro:if value="${use_gazebo_chest_camera}">
       <gazebo reference="chest_camera_link">
-        <sensor name="${NAME_CHEST_CAMERA_PREFIX}" type="camera">
+        <sensor name="chest_camera" type="camera">
           <pose relative_to="chest_camera_link">0 0 0 ${radians(90)} ${radians(-90)} 0</pose>
           <update_rate>10</update_rate>
           <always_on>true</always_on>
-          <topic>${NAME_CHEST_CAMERA_PREFIX}/image_raw</topic>
+          <topic>chest_camera/image_raw</topic>
           <frame_id>chest_camera_link</frame_id>
-          <camera name="${NAME_CHEST_CAMERA_PREFIX}">
+          <camera name="chest_camera">
             <xacro:property name="chest_camera_width" value="640"/>
             <xacro:property name="chest_camera_height" value="360"/>
             <xacro:property name="chest_camera_hfov" value="${radians(120)}"/>