Remove old gazebo settings.

Based on an initial patch from YoheiKakiuchi, just totally
remove old Gazebo 1.0 settings, as they are never used and
almost certainly will never be used.

Signed-off-by: Chris Lalancette <clalancette@osrfoundation.org>

Author: clalancette

collada_urdf/src/collada_to_urdf.cpp

@@ -31,10 +31,8 @@
 #include <tf/LinearMath/Transform.h>
 #include <tf/LinearMath/Quaternion.h>
 
-#undef GAZEBO_1_0
 #undef GAZEBO_1_3
 
-//#define GAZEBO_1_0
 #define GAZEBO_1_3
 
 using namespace urdf;
@@ -385,17 +383,6 @@ void addChildLinkNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
   }
   os << "  </link>" << endl;
 
-#ifdef GAZEBO_1_0
-  if ( add_gazebo_description ) {
-    os << "  <gazebo reference=\"" << link->name << "\">" << endl;
-    os << "    <material>Gazebo/Grey</material>" << endl;
-    //os << "    <mu1>0.9</mu1>" << endl;
-    //os << "    <mu2>0.9</mu2>" << endl;
-    os << "    <turnGravityOff>false</turnGravityOff>" << endl;
-    os << "  </gazebo>" << endl;
-  }
-#endif
-
 #ifdef GAZEBO_1_3
   if ( add_gazebo_description ) {
     os << "  <gazebo reference=\"" << link->name << "\">" << endl;
@@ -507,37 +494,12 @@ void printTreeXML(boost::shared_ptr<const Link> link, string name, string file)
   os.open(file.c_str());
   os << "<?xml version=\"1.0\"?>" << endl;
   os << "<robot name=\"" << name << "\"" << endl;
-  os << "       xmlns:xi=\"http://www.w3.org/2001/XInclude\"" << endl;
-  os << "       xmlns:gazebo=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#gz\"" << endl;
-  os << "       xmlns:model=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#model\"" << endl;
-  os << "       xmlns:sensor=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor\"" << endl;
-  os << "       xmlns:body=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#body\"" << endl;
-  os << "       xmlns:geom=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#geom\"" << endl;
-  os << "       xmlns:joint=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#joint\"" << endl;
-  os << "       xmlns:interface=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#interface\"" << endl;
-  os << "       xmlns:rendering=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering\"" << endl;
-  os << "       xmlns:renderable=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable\"" << endl;
-  os << "       xmlns:controller=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#controller\"" << endl;
-  os << "       xmlns:physics=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#physics\">" << endl;
+  os << "       xmlns:xi=\"http://www.w3.org/2001/XInclude\">" << endl;
 
   addChildLinkNamesXML(link, os);
 
   addChildJointNamesXML(link, os);
 
-  if ( add_gazebo_description ) {
-#ifdef GAZEBO_1_0
-    // old gazebo (gazebo on ROS Fuerte)
-    os << " <gazebo>" << endl;
-    os << "   <controller:gazebo_ros_controller_manager" << endl;
-    os << "      name=\"gazebo_ros_controller_manager\"" << endl;
-    os << "      plugin=\"libgazebo_ros_controller_manager.so\">" << endl;
-    os << "     <alwaysOn>true</alwaysOn>" << endl;
-    os << "     <updateRate>1000.0</updateRate>" << endl;
-    os << "   </controller:gazebo_ros_controller_manager>" << endl;
-    os << "  </gazebo>" << endl;
-#endif
-  }
-
   os << "</robot>" << endl;
   os.close();
 }