Skip to content
Permalink
Browse files

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>
  • Loading branch information...
clalancette committed Feb 14, 2017
1 parent 85b9a6e commit 3e5a220a67cf063d1e389cfbce3f05147c46f547
Showing with 1 addition and 39 deletions.
  1. +1 −39 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();
}

0 comments on commit 3e5a220

Please sign in to comment.
You can’t perform that action at this time.