Revert "fixed conflicts" (#600)

This reverts commit 3f12a2e.

gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h

@@ -108,13 +108,13 @@ class GazeboRosApiPlugin : public SystemPlugin
 
   /// \brief Destructor
   ~GazeboRosApiPlugin();
-
+  
   /// \bried Detect if sig-int shutdown signal is recieved
   void shutdownSignal();
 
   /// \brief Gazebo-inherited load function
-  ///
-  /// Called before Gazebo is loaded. Must not block.
+  /// 
+  /// Called before Gazebo is loaded. Must not block. 
   /// Capitalized per Gazebo cpp style guidelines
   /// \param _argc Number of command line arguments.
   /// \param _argv Array of command line arguments.
@@ -139,12 +139,13 @@ class GazeboRosApiPlugin : public SystemPlugin
   void onModelStatesDisconnect();
 
   /// \brief Function for inserting a URDF into Gazebo from ROS Service Call
-  bool spawnURDFModel(gazebo_msgs::SpawnModel::Request &req,
-                      gazebo_msgs::SpawnModel::Response &res);
+  bool spawnURDFModel(gazebo_msgs::SpawnModel::Request &req,gazebo_msgs::SpawnModel::Response &res);
+
+  /// \brief Function for inserting a URDF into Gazebo from ROS Service Call. Deprecated in ROS Hydro - replace with spawnURDFModel()
+  ROS_DEPRECATED bool spawnGazeboModel(gazebo_msgs::SpawnModel::Request &req,gazebo_msgs::SpawnModel::Response &res);
 
   /// \brief Both SDFs and converted URDFs get sent to this function for further manipulation from a ROS Service call
-  bool spawnSDFModel(gazebo_msgs::SpawnModel::Request &req,
-                     gazebo_msgs::SpawnModel::Response &res);
+  bool spawnSDFModel(gazebo_msgs::SpawnModel::Request &req,gazebo_msgs::SpawnModel::Response &res);
 
   /// \brief delete model given name
   bool deleteModel(gazebo_msgs::DeleteModel::Request &req,gazebo_msgs::DeleteModel::Response &res);
@@ -242,21 +243,21 @@ class GazeboRosApiPlugin : public SystemPlugin
   void stripXmlDeclaration(std::string &model_xml);
 
   /// \brief Update the model name and pose of the SDF file before sending to Gazebo
-  void updateSDFAttributes(TiXmlDocument &gazebo_model_xml, std::string model_name,
+  void updateSDFAttributes(TiXmlDocument &gazebo_model_xml, std::string model_name, 
                            gazebo::math::Vector3 initial_xyz, gazebo::math::Quaternion initial_q);
 
   /// \brief Update the model pose of the URDF file before sending to Gazebo
-  void updateURDFModelPose(TiXmlDocument &gazebo_model_xml,
+  void updateURDFModelPose(TiXmlDocument &gazebo_model_xml, 
                            gazebo::math::Vector3 initial_xyz, gazebo::math::Quaternion initial_q);
 
   /// \brief Update the model name of the URDF file before sending to Gazebo
   void updateURDFName(TiXmlDocument &gazebo_model_xml, std::string model_name);
 
   /// \brief
-  void walkChildAddRobotNamespace(TiXmlNode* model_xml);
+  void walkChildAddRobotNamespace(TiXmlNode* robot_xml);
 
   /// \brief
-  bool spawnAndConform(TiXmlDocument &gazebo_model_xml, std::string model_name,
+  bool spawnAndConform(TiXmlDocument &gazebo_model_xml, std::string model_name, 
                        gazebo_msgs::SpawnModel::Response &res);
 
   /// \brief helper function for applyBodyWrench
@@ -293,7 +294,7 @@ class GazeboRosApiPlugin : public SystemPlugin
   bool plugin_loaded_;
 
   // detect if sigint event occurs
-  bool stop_;
+  bool stop_; 
   gazebo::event::ConnectionPtr sigint_event_;
 
   std::string robot_namespace_;
@@ -316,6 +317,7 @@ class GazeboRosApiPlugin : public SystemPlugin
   gazebo::event::ConnectionPtr pub_model_states_event_;
   gazebo::event::ConnectionPtr load_gazebo_ros_api_plugin_event_;
 
+  ros::ServiceServer spawn_gazebo_model_service_; // DEPRECATED IN HYDRO
   ros::ServiceServer spawn_sdf_model_service_;
   ros::ServiceServer spawn_urdf_model_service_;
   ros::ServiceServer delete_model_service_;
@@ -387,8 +389,6 @@ class GazeboRosApiPlugin : public SystemPlugin
   std::vector<GazeboRosApiPlugin::WrenchBodyJob*> wrench_body_jobs_;
   std::vector<GazeboRosApiPlugin::ForceJointJob*> force_joint_jobs_;
 
-  /// \brief enable the communication of gazebo information using ROS service/topics
-  bool enable_ros_network_;
 };
 }
 #endif

gazebo_ros/launch/empty_world.launch

@@ -10,7 +10,6 @@
   <arg name="physics" default="ode"/>
   <arg name="verbose" default="false"/>
   <arg name="world_name" default="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
-  <arg name="enable_ros_network" default="true" />
 
   <!-- set use_sim_time flag -->
   <group if="$(arg use_sim_time)">
@@ -28,9 +27,6 @@
   <arg     if="$(arg debug)" name="script_type" value="debug"/>
 
   <!-- start gazebo server-->
-  <group>
-    <param name="gazebo/enable_ros_network" value="$(arg enable_ros_network)" />
-  </group>  
   <node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="false" output="screen"
 	args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)" />
 

gazebo_ros/src/gazebo_ros_api_plugin.cpp

@@ -33,8 +33,7 @@ GazeboRosApiPlugin::GazeboRosApiPlugin() :
   stop_(false),
   plugin_loaded_(false),
   pub_link_states_connection_count_(0),
-  pub_model_states_connection_count_(0),
-  enable_ros_network_
+  pub_model_states_connection_count_(0)
 {
   robot_namespace_.clear();
 }
@@ -58,8 +57,7 @@ GazeboRosApiPlugin::~GazeboRosApiPlugin()
   gazebo::event::Events::DisconnectWorldCreated(load_gazebo_ros_api_plugin_event_);
   gazebo::event::Events::DisconnectWorldUpdateBegin(wrench_update_event_);
   gazebo::event::Events::DisconnectWorldUpdateBegin(force_update_event_);
-  if (enable_ros_network_)
-    gazebo::event::Events::DisconnectWorldUpdateBegin(time_update_event_);
+  gazebo::event::Events::DisconnectWorldUpdateBegin(time_update_event_);
   ROS_DEBUG_STREAM_NAMED("api_plugin","Slots disconnected");
 
   if (pub_link_states_connection_count_ > 0) // disconnect if there are subscribers on exit
@@ -153,9 +151,6 @@ void GazeboRosApiPlugin::Load(int argc, char** argv)
   // below needs the world to be created first
   load_gazebo_ros_api_plugin_event_ = gazebo::event::Events::ConnectWorldCreated(boost::bind(&GazeboRosApiPlugin::loadGazeboRosApiPlugin,this,_1));
 
-  nh_->getParam("enable_ros_network", enable_ros_network_);
-
-
   plugin_loaded_ = true;
   ROS_INFO("Finished loading Gazebo ROS API Plugin.");
 }
@@ -195,15 +190,12 @@ void GazeboRosApiPlugin::loadGazeboRosApiPlugin(std::string world_name)
   pub_model_states_connection_count_ = 0;
 
   /// \brief advertise all services
-  if (enable_ros_network_)
-    advertiseServices();
+  advertiseServices();
 
   // hooks for applying forces, publishing simtime on /clock
   wrench_update_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::wrenchBodySchedulerSlot,this));
   force_update_event_  = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::forceJointSchedulerSlot,this));
-
-  if (enable_ros_network_)
-    time_update_event_   = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishSimTime,this));
+  time_update_event_   = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishSimTime,this));
 }
 
 void GazeboRosApiPlugin::onResponse(ConstResponsePtr &response)
@@ -222,12 +214,6 @@ void GazeboRosApiPlugin::gazeboQueueThread()
 
 void GazeboRosApiPlugin::advertiseServices()
 {
-  if (! enable_ros_network_)
-  {
-    ROS_INFO_NAMED("api_plugin", "ROS gazebo topics/services are disabled");
-    return;
-  }
-
   // publish clock for simulated ros time
   pub_clock_ = nh_->advertise<rosgraph_msgs::Clock>("/clock",10);