Тем временем, пока я ждал ответа, я сделал второй файл и добавил 2 в конец каждой переменной, и это сработало.Конечно, я знал, что это не постоянное решение, и что я должен просто сохранить его в одном файле.Благодаря Вику у меня есть решение.Я взял все переменные из моего второго файла и заменил их на $ {имя_сенсора}.По какой-то причине камера больше не появляется в rviz.Мне не дают никаких сообщений об ошибках, но они просто исчезли.Есть ли какие-либо проблемы с моим кодом, которые могут видеть люди?
<?xml version="1.0"?>
<!--
License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 Intel Corporation. All Rights Reserved
This is the URDF model for the Intel RealSense 430 camera, in it's
aluminum peripherial evaluation case.
-->
<robot name="sensor_d4352" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="sensor_d415" params="sensor_name parent *origin">
<xacro:property name="M_PI" value="3.1415926535897931" />
<!-- The following values are approximate, and the camera node
publishing TF values with actual calibrated camera extrinsic values -->
<xacro:property name="d435_cam_depth_to_left_ir_offset" value="0.0"/>
<xacro:property name="d435_cam_depth_to_right_ir_offset" value="-0.050"/>
<xacro:property name="d435_cam_depth_to_color_offset" value="0.015"/>
<!-- The following values model the aluminum peripherial case for the
D435 camera, with the camera joint represented by the actual
peripherial camera tripod mount -->
<xacro:property name="d435_cam_width" value="0.090"/>
<xacro:property name="d435_cam_height" value="0.025"/>
<xacro:property name="d435_cam_depth" value="0.02505"/>
<xacro:property name="d435_cam_mount_from_center_offset" value="0.0149"/>
<!-- The following offset is relative the the physical D435 camera peripherial
camera tripod mount -->
<xacro:property name="d435_cam_depth_px" value="${d435_cam_mount_from_center_offset}"/>
<xacro:property name="d435_cam_depth_py" value="0.0175"/>
<xacro:property name="d435_cam_depth_pz" value="${d435_cam_height/2}"/>
<material name="aluminum${sensor_name}">
<color rgba="0.5 0.5 0.5 1"/>
</material>
<!-- camera body, with origin at bottom screw mount -->
<joint name="camera_joint${sensor_name}" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="camera_bottom_screw_frame${sensor_name}" />
</joint>
<link name="camera_bottom_screw_frame${sensor_name}"/>
<joint name="camera_link_joint${sensor_name}" type="fixed">
<origin xyz="0 ${d435_cam_depth_py} ${d435_cam_depth_pz}" rpy="0 0 0"/>
<parent link="camera_bottom_screw_frame${sensor_name}"/>
<child link="camera_link${sensor_name}" />
</joint>
<link name="camera_link${sensor_name}">
<visual>
<origin xyz="${d435_cam_mount_from_center_offset} ${-d435_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
<geometry>
<!-- <box size="${d435_cam_width} ${d435_cam_height} ${d435_cam_depth}"/> -->
<mesh filename="package://realsense2_camera/meshes/d435.dae" />
<!--<mesh filename="package://realsense2_camera/meshes/d435/d435.dae" />-->
</geometry>
<material name="aluminum"/>
</visual>
<collision>
<origin xyz="0 ${-d435_cam_depth_py} 0" rpy="0 0 0"/>
<geometry>
<box size="${d435_cam_depth} ${d435_cam_width} ${d435_cam_height}"/>
</geometry>
</collision>
<inertial>
<!-- The following are not reliable values, and should not be used for modeling -->
<mass value="0.564" />
<origin xyz="0 0 0" />
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
</inertial>
</link>
<!-- camera depth joints and links -->
<joint name="camera_depth_joint${sensor_name}" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="camera_link${sensor_name}"/>
<child link="camera_depth_frame${sensor_name}" />
</joint>
<link name="camera_depth_frame${sensor_name}"/>
<joint name="camera_depth_optical_joint${sensor_name}" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="camera_depth_frame${sensor_name}" />
<child link="camera_depth_optical_frame${sensor_name}" />
</joint>
<link name="camera_depth_optical_frame${sensor_name}"/>
<!-- camera left IR joints and links -->
<joint name="camera_left_ir_joint${sensor_name}" type="fixed">
<origin xyz="0 ${d435_cam_depth_to_left_ir_offset} 0" rpy="0 0 0" />
<parent link="camera_depth_frame${sensor_name}" />
<child link="camera_left_ir_frame${sensor_name}" />
</joint>
<link name="camera_left_ir_frame${sensor_name}"/>
<joint name="camera_left_ir_optical_joint${sensor_name}" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="camera_left_ir_frame${sensor_name}" />
<child link="camera_left_ir_optical_frame${sensor_name}" />
</joint>
<link name="camera_left_ir_optical_frame${sensor_name}"/>
<!-- camera right IR joints and links -->
<joint name="camera_right_ir_joint${sensor_name}" type="fixed">
<origin xyz="0 ${d435_cam_depth_to_right_ir_offset} 0" rpy="0 0 0" />
<parent link="camera_depth_frame${sensor_name}" />
<child link="camera_right_ir_frame${sensor_name}" />
</joint>
<link name="camera_right_ir_frame${sensor_name}"/>
<joint name="camera_right_ir_optical_joint${sensor_name}" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="camera_right_ir_frame${sensor_name}" />
<child link="camera_right_ir_optical_frame${sensor_name}" />
</joint>
<link name="camera_right_ir_optical_frame${sensor_name}"/>
<!-- camera color joints and links -->
<joint name="camera_color_joint${sensor_name}" type="fixed">
<origin xyz="0 ${d435_cam_depth_to_color_offset} 0" rpy="0 0 0" />
<parent link="camera_depth_frame" />
<child link="camera_color_frame${sensor_name}" />
</joint>
<link name="camera_color_frame${sensor_name}"/>
<joint name="camera_color_optical_joint${sensor_name}" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="camera_color_frame${sensor_name}" />
<child link="camera_color_optical_frame${sensor_name}" />
</joint>
<link name="camera_color_optical_frame"/>
</xacro:macro>
</robot>