<?xml version="1.0"?>
<!-- %Tag(FULLTEXT)% -->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="psen_scan">
  <!-- %Tag(IMPORT_MAP)% -->
  <xacro:include filename="$(find psen_scan_v2)/urdf/psen_scan.urdf.xacro" />
  <link name="base_link"/>
  <!-- %EndTag(IMPORT_MAP)% -->

  <!-- %Tag(FIRST_SCANNER)% -->
  <joint name="laser_1_base_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="laser_1_mount_link" />
    <origin rpy="0 0 ${-pi/2}" xyz="0 -1 0"/>
  </joint>
  <xacro:psen_scan prefix="laser_1" />
  <!-- %EndTag(FIRST_SCANNER)% -->

  <!-- %Tag(SECOND_SCANNER)% -->
  <joint name="laser_2_base_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="laser_2_mount_link" />
    <origin rpy="0 0 ${pi/2}" xyz="0 1 0"/>
  </joint>
  <xacro:psen_scan prefix="laser_2" />
  <!-- %EndTag(SECOND_SCANNER)% -->
</robot>
<!-- %EndTag(FULLTEXT)% -->
