add optional name attributes to collisions and visuals #15
Description
Migrated from bitbucket
The use case for this is for specifying contact sensors in gazebo. For example, the reference to collision ${prefix}_l_finger_tip_link_geom in pr2 gripper XML asssumes the collision name is the link name appended by _geom, which is an ugly hard-coded approach:
<gazebo reference="${prefix}_l_finger_tip_link">
<turnGravityOff>true</turnGravityOff>
<selfCollide>false</selfCollide>
<sensor type="contact" name="${prefix}_l_finger_tip_contact_sensor">
<update_rate>100.0</update_rate>
<contact>
<collision>${prefix}_l_finger_tip_link_geom</collision>
</contact>
<plugin name="${prefix}_l_finger_tip_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
<alwaysOn>true</alwaysOn>
<frameName>${prefix}_l_finger_tip_link</frameName>
<updateRate>100.0</updateRate>
<bumperTopicName>${prefix}_l_finger_tip_bumper</bumperTopicName>
</plugin>
</sensor>
<mu1 value="${finger_tip_mu}" />
<mu2 value="${finger_tip_mu}" />
<kp value="10000000.0" />
<kd value="1.0" />
</gazebo>