From 2755753e43d99fda878a8cb9e981afdc77d928a5 Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@osrfoundation.org>
Date: Tue, 14 Feb 2017 11:23:52 -0500
Subject: [PATCH] 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>
---
 collada_urdf/src/collada_to_urdf.cpp | 40 +---------------------------
 1 file changed, 1 insertion(+), 39 deletions(-)

diff --git a/collada_urdf/src/collada_to_urdf.cpp b/collada_urdf/src/collada_to_urdf.cpp
index 14e9741..616f58a 100644
--- a/collada_urdf/src/collada_to_urdf.cpp
+++ b/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(urdf::LinkConstSharedPtr 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(urdf::LinkConstSharedPtr 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();
 }