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kdl_parser
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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>
This commit is contained in:
Chris Lalancette 2017-02-14 11:23:52 -05:00
parent 3384a0a76f
commit 2755753e43
1 changed files with 1 additions and 39 deletions
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40
collada_urdf/src/collada_to_urdf.cpp
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@ -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();
}