From 727f32f87617ec0e76173da70756891de1174234 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mathias=20L=C3=BCdtke?= <mathias.luedtke@ipa.fraunhofer.de>
Date: Tue, 4 Jun 2013 09:00:29 +0200
Subject: [PATCH] patched gazebo.urdf.xacro to be compatible with gazebo 1.5
---
ur_description/urdf/gazebo.urdf.xacro | 10 ++++------
1 file changed, 4 insertions(+), 6 deletions(-)
diff --git a/ur_description/urdf/gazebo.urdf.xacro b/ur_description/urdf/gazebo.urdf.xacro
index e82aab9..8cb1bb4 100644
--- a/ur_description/urdf/gazebo.urdf.xacro
+++ b/ur_description/urdf/gazebo.urdf.xacro
@@ -4,17 +4,15 @@
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<gazebo>
- <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
+ <plugin name="gazebo_ros_controller_manager" filename="libgazebo_ros_controller_manager.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
- <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
- </controller:gazebo_ros_controller_manager>
+ </plugin>
- <controller:gazebo_ros_power_monitor name="gazebo_ros_power_monitor_controller" plugin="libgazebo_ros_power_monitor.so">
+ <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<timeout>5</timeout>
- <interface:audio name="power_monitor_dummy_interface" />
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
@@ -22,7 +20,7 @@
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
<chargeVoltage>16.41</chargeVoltage>
- </controller:gazebo_ros_power_monitor>
+ </plugin>
</gazebo>
</robot>
--
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