Use breadcrumb model.

osrf · Mar 22, 2020 · 60dceb0 · 60dceb0
1 parent 8af95d6
commit 60dceb0
Showing 1 changed file with 6 additions and 64 deletions.
diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
@@ -482,38 +482,9 @@
     "        <sdf version=\"1.6\">\n"\
     "          <model name=\"#{_name}__breadcrumb__\">\n"\
     "            <pose>-1.2 0 0 0 0 0</pose>\n"\
-    "            <link name='body'>\n"\
-    "              <inertial>\n"\
-    "                <mass>0.5</mass>\n"\
-    "                <inertia>\n"\
-    "                  <ixx>0.0008</ixx>\n"\
-    "                  <ixy>0</ixy>\n"\
-    "                  <ixz>0</ixz>\n"\
-    "                  <iyy>0.0008</iyy>\n"\
-    "                  <iyz>0</iyz>\n"\
-    "                  <izz>0.0008</izz>\n"\
-    "                </inertia>\n"\
-    "              </inertial>\n"\
-    "              <visual name='visual'>\n"\
-    "                <geometry>\n"\
-    "                  <box>\n"\
-    "                    <size>0.1 0.1 0.1</size>\n"\
-    "                  </box>\n"\
-    "                </geometry>\n"\
-    "                <material>\n"\
-    "                  <ambient>1.0 0.0 0.0 1</ambient>\n"\
-    "                  <diffuse>1.0 0.0 0.0 1</diffuse>\n"\
-    "                  <specular>0.5 0.5 0.5 1</specular>\n"\
-    "                </material>\n"\
-    "              </visual>\n"\
-    "              <collision name='collision'>\n"\
-    "                <geometry>\n"\
-    "                  <box>\n"\
-    "                    <size>0.1 0.1 0.1</size>\n"\
-    "                  </box>\n"\
-    "                </geometry>\n"\
-    "              </collision>\n"\
-    "            </link>\n"\
+    "            <include>\n"\
+    "              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb</uri>\n"\
+    "            </include>\n"\
     "          </model>\n"\
     "        </sdf>\n"\
     "      </breadcrumb>\n"\
@@ -606,38 +577,9 @@
     "        <sdf version=\"1.6\">\n"\
     "          <model name=\"#{_name}__breadcrumb__\">\n"\
     "            <pose>-1.2 0 0 0 0 0</pose>\n"\
-    "            <link name='body'>\n"\
-    "              <inertial>\n"\
-    "                <mass>0.5</mass>\n"\
-    "                <inertia>\n"\
-    "                  <ixx>0.0008</ixx>\n"\
-    "                  <ixy>0</ixy>\n"\
-    "                  <ixz>0</ixz>\n"\
-    "                  <iyy>0.0008</iyy>\n"\
-    "                  <iyz>0</iyz>\n"\
-    "                  <izz>0.0008</izz>\n"\
-    "                </inertia>\n"\
-    "              </inertial>\n"\
-    "              <visual name='visual'>\n"\
-    "                <geometry>\n"\
-    "                  <box>\n"\
-    "                    <size>0.1 0.1 0.1</size>\n"\
-    "                  </box>\n"\
-    "                </geometry>\n"\
-    "                <material>\n"\
-    "                  <ambient>0.0 1.0 0.0 1</ambient>\n"\
-    "                  <diffuse>0.0 1.0 0.0 1</diffuse>\n"\
-    "                  <specular>0.5 0.5 0.5 1</specular>\n"\
-    "                </material>\n"\
-    "              </visual>\n"\
-    "              <collision name='collision'>\n"\
-    "                <geometry>\n"\
-    "                  <box>\n"\
-    "                    <size>0.1 0.1 0.1</size>\n"\
-    "                  </box>\n"\
-    "                </geometry>\n"\
-    "              </collision>\n"\
-    "            </link>\n"\
+    "            <include>\n"\
+    "              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb</uri>\n"\
+    "            </include>\n"\
     "          </model>\n"\
     "        </sdf>\n"\
     "      </breadcrumb>\n"\