Remove comments to workaround ros2/launch_ros#214

tiago_description/gazebo/gazebo.urdf.xacro

@@ -48,30 +48,12 @@
   <gazebo reference="base_imu_link">
     <!-- this is expected to be reparented to pelvis with appropriate offset
          when imu_link is reduced by fixed joint reduction -->
-    <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
     <sensor name="imu_sensor" type="imu">
       <always_on>1</always_on>
       <update_rate>1000.0</update_rate>
       <imu>
         <noise>
           <type>gaussian</type>
-          <!-- Noise parameters from Boston Dynamics
-               (http://gazebosim.org/wiki/Sensor_noise):
-                 rates (rad/s): mean=0, stddev=2e-4
-                 accels (m/s/s): mean=0, stddev=1.7e-2
-                 rate bias (rad/s): 5e-6 - 1e-5
-                 accel bias (m/s/s): 1e-1
-               Experimentally, simulation provide rates with noise of
-               about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
-               So we don't expect to see the noise unless number of inner iterations
-               are increased.
-
-               We will add bias.  In this model, bias is sampled once for rates
-               and once for accels at startup; the sign (negative or positive)
-               of each bias is then switched with equal probability.  Thereafter,
-               the biases are fixed additive offsets.  We choose
-               bias means and stddevs to produce biases close to the provided
-               data. -->
           <rate>
             <mean>0.0</mean>
             <stddev>2e-4</stddev>

tiago_description/urdf/sensors/orbbec_astra.urdf.xacro

@@ -88,7 +88,6 @@
     <!-- frame of camera origin provided by Orbbec, need this intermediate frame for backwards compatibility with xtion_pro_live
          to reuse same camera origin -->
     <joint name="${name}_orbbec_aux_joint" type="fixed">
-      <!-- This is the real origin as in the robot solidworks, it must match: 0.1015 0.095 0.008 -->
       <!-- Assuming we have 0.0908 0.08 0.0 from default camera_position, and rotated -90 deg on x.-->
       <!-- Pending confirmation from Orbbec about the position of the frames, going with old defaults-->
       <!-- <origin xyz="0.0107 0.008 0.015" rpy="0 0 0" />-->