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Replaced ignition references with gz #283

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Merged
merged 1 commit into from
Nov 26, 2025
Merged

Replaced ignition references with gz #283

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2 changes: 1 addition & 1 deletion clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="dd100_drivetrain_wheels">
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="dd100_drivetrain_wheels">

<xacro:macro name="dd100_drivetrain_wheels" params="front_wheels rear_wheels">
<xacro:include filename="$(find clearpath_platform_description)/urdf/dd100/drivetrain/wheels/indoor.urdf.xacro"/>
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2 changes: 1 addition & 1 deletion clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="dd100_caster_wheel">
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="dd100_caster_wheel">

<xacro:property name="dd100_caster_wheel_radius" value="0.01" />
<xacro:property name="dd100_caster_wheel_mass" value="0.1" />
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2 changes: 1 addition & 1 deletion clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="do100_drivetrain_wheels">
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="do100_drivetrain_wheels">

<xacro:macro name="do100_drivetrain_wheels" params="front_wheels rear_wheels">
<xacro:include filename="$(find clearpath_platform_description)/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro"/>
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4 changes: 2 additions & 2 deletions clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="do100_mecanum_wheel">
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="do100_mecanum_wheel">

<xacro:property name="do100_mecanum_wheel_radius" value="0.050" />
<xacro:property name="do100_mecanum_wheel_mass" value="0.4" />
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<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 ignition:expressed_in="base_link">1 ${side} 0</fdir1>
<fdir1 gz:expressed_in="base_link">1 ${side} 0</fdir1>
</ode>
</friction>
</surface>
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2 changes: 1 addition & 1 deletion clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_4wd">
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_4wd">

<xacro:macro name="generic_drivetrain_control_diff_4wd" params="name hardware_plugin">

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2 changes: 1 addition & 1 deletion clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_fwd">
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_fwd">

<xacro:macro name="generic_drivetrain_control_diff_fwd" params="name hardware_plugin">

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2 changes: 1 addition & 1 deletion clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_rwd">
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_rwd">

<xacro:macro name="generic_drivetrain_control_diff_rwd" params="name hardware_plugin">

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2 changes: 1 addition & 1 deletion clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_omni_4wd">
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_omni_4wd">

<xacro:macro name="generic_drivetrain_control_omni_4wd" params="name hardware_plugin">

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2 changes: 1 addition & 1 deletion clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain">
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain">

<xacro:macro name="generic_drivetrain" params="name control front_wheels rear_wheels hardware_plugin">
<!-- Omni drivetrain -->
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2 changes: 1 addition & 1 deletion clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="r100_drivetrain_wheels">
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="r100_drivetrain_wheels">

<!-- Includes -->
<xacro:include filename="$(find clearpath_platform_description)/urdf/r100/rocker.urdf.xacro"/>
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4 changes: 2 additions & 2 deletions clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="r100_wheel">
<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="r100_wheel">
<xacro:property name="r100_mecanum_wheel_radius" value="0.0759" />
<xacro:property name="r100_mecanum_wheel_mass" value="2.5" />
<xacro:property name="r100_mecanum_wheel_width" value="0.0790" />
Expand Down Expand Up @@ -47,7 +47,7 @@
<ode>
<mu>1.0</mu>
<mu2>0.0</mu2>
<fdir1 ignition:expressed_in="base_link">1 ${side} 0</fdir1>
<fdir1 gz:expressed_in="base_link">1 ${side} 0</fdir1>
</ode>
</friction>
</surface>
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