From c3ce98d1af587ea04d748362e40878f034a7243b Mon Sep 17 00:00:00 2001
From: Vatan Aksoy Tezer <vatan@picknik.ai>
Date: Fri, 28 May 2021 19:00:43 +0000
Subject: [PATCH] Remove sdf

Signed-off-by: Vatan Aksoy Tezer <vatanaksoytezer@gmail.com>
---
 .../launch/joint_states.launch.py             |  11 +-
 ros_ign_gazebo_demos/models/rrbot.sdf         | 170 ------------------
 ros_ign_gazebo_demos/models/rrbot.xacro       |  61 +++++--
 3 files changed, 50 insertions(+), 192 deletions(-)
 delete mode 100644 ros_ign_gazebo_demos/models/rrbot.sdf

diff --git a/ros_ign_gazebo_demos/launch/joint_states.launch.py b/ros_ign_gazebo_demos/launch/joint_states.launch.py
index 0f92d0b6..c6296bd7 100644
--- a/ros_ign_gazebo_demos/launch/joint_states.launch.py
+++ b/ros_ign_gazebo_demos/launch/joint_states.launch.py
@@ -43,11 +43,10 @@ def generate_launch_description():
     )
 
     # Spawn
-    rrbot_sdf =  os.path.join(pkg_ros_ign_gazebo_demos, 'models', 'rrbot.sdf')
     spawn = Node(package='ros_ign_gazebo', executable='create',
                 arguments=[
                     '-name', 'rrbot',
-                    '-file', rrbot_sdf,
+                    '-topic', 'robot_description',
                     ],
                 output='screen',
                 )
@@ -68,13 +67,6 @@ def generate_launch_description():
         output='screen'
     )
 
-    # Static TF between world and robot
-    world_static_tf = Node(package='tf2_ros',
-                        executable='static_transform_publisher',
-                        name='world_static_tf',
-                        output='log',
-                        arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'base_link', 'world'])
-
     return LaunchDescription(
         [
             # Nodes and Launches
@@ -82,7 +74,6 @@ def generate_launch_description():
             spawn,
             bridge,
             robot_state_publisher,
-            world_static_tf,
             rviz,
         ]
     )
diff --git a/ros_ign_gazebo_demos/models/rrbot.sdf b/ros_ign_gazebo_demos/models/rrbot.sdf
deleted file mode 100644
index c5743226..00000000
--- a/ros_ign_gazebo_demos/models/rrbot.sdf
+++ /dev/null
@@ -1,170 +0,0 @@
-<sdf version='1.7'>
-  <model name='rrbot'>
-    <link name='base_link'>
-      <inertial>
-        <pose>0 0 0 0 -0 0</pose>
-        <mass>100</mass>
-        <inertia>
-          <ixx>1</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>1</iyy>
-          <iyz>0</iyz>
-          <izz>1</izz>
-        </inertia>
-      </inertial>
-    </link>
-    <joint name='fixed_joint' type='fixed'>
-      <parent>base_link</parent>
-      <child>link1</child>
-    </joint>
-    <link name='link1'>
-      <pose relative_to='base_link'>0 0 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 1 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.334167</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.334167</iyy>
-          <iyz>0</iyz>
-          <izz>0.00166667</izz>
-        </inertia>
-      </inertial>
-      <collision name='link1_collision'>
-        <pose>0 0 1 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.1 0.1 2</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name='link1_visual'>
-        <pose>0 0 1 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.1 0.1 2</size>
-          </box>
-        </geometry>
-        <material>
-          <diffuse> 1 0.423529412 0.039215686 1</diffuse>
-          <ambient> 1 0.423529412 0.039215686 1</ambient>
-          <specular>1 0.423529412 0.039215686 1</specular>
-        </material>
-      </visual>
-    </link>
-    <joint name='joint1' type='revolute'>
-      <pose relative_to='link1'>0 0.1 1.95 0 -0 0</pose>
-      <parent>link1</parent>
-      <child>link2</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.7</damping>
-          <friction>0</friction>          
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name='link2'>
-      <pose relative_to='joint1'>0 0 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.45 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.0841667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0841667</iyy>
-          <iyz>0</iyz>
-          <izz>0.00166667</izz>
-        </inertia>
-      </inertial>
-      <collision name='link2_collision'>
-        <pose>0 0 0.45 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.1 0.1 1</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name='link2_visual'>
-        <pose>0 0 0.45 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.1 0.1 1</size>
-          </box>
-        </geometry>
-        <material>
-          <diffuse> 0 0 0 1</diffuse>
-          <ambient> 0 0 0 1</ambient>
-          <specular>0 0 0 1</specular>
-        </material>
-      </visual>
-    </link>
-    <joint name='joint2' type='revolute'>
-      <pose relative_to='link2'>0 0.1 0.9 0 -0 0</pose>
-      <parent>link2</parent>
-      <child>link3</child>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <damping>0.7</damping>
-          <friction>0</friction>            
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name='link3'>
-      <pose relative_to='joint2'>0 0 0 0 -0 0</pose>
-      <inertial>
-        <pose>0 0 0.45 0 -0 0</pose>
-        <mass>1</mass>
-        <inertia>
-          <ixx>0.0841667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0841667</iyy>
-          <iyz>0</iyz>
-          <izz>0.00166667</izz>
-        </inertia>
-      </inertial>
-      <collision name='link3_collision'>
-        <pose>0 0 0.45 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.1 0.1 1</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name='link3_visual'>
-        <pose>0 0 0.45 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.1 0.1 1</size>
-          </box>
-        </geometry>
-        <material>
-          <diffuse> 1 0.423529412 0.039215686 1</diffuse>
-          <ambient> 1 0.423529412 0.039215686 1</ambient>
-          <specular>1 0.423529412 0.039215686 1</specular>
-        </material>
-      </visual>
-    </link>
-
-    <!-- Joint state publisher -->
-    <plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher"/>
-
-  </model>
-</sdf>
diff --git a/ros_ign_gazebo_demos/models/rrbot.xacro b/ros_ign_gazebo_demos/models/rrbot.xacro
index 9eb711cf..782154e3 100644
--- a/ros_ign_gazebo_demos/models/rrbot.xacro
+++ b/ros_ign_gazebo_demos/models/rrbot.xacro
@@ -21,10 +21,10 @@
   </material>
 
   <!-- Used for fixing robot to Gazebo 'base_link' -->
-  <link name="base_link"/>
+  <link name="world"/>
 
   <joint name="fixed" type="fixed">
-    <parent link="base_link"/>
+    <parent link="world"/>
     <child link="link1"/>
   </joint>
 
@@ -49,9 +49,9 @@
       <origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
       <mass value="${mass}"/>
       <inertia
-	  ixx="${mass / 12.0 * (width*width + height1*height1)}" ixy="0.0" ixz="0.0"
-	  iyy="${mass / 12.0 * (height1*height1 + width*width)}" iyz="0.0"
-	  izz="${mass / 12.0 * (width*width + width*width)}"/>
+    ixx="${mass / 12.0 * (width*width + height1*height1)}" ixy="0.0" ixz="0.0"
+    iyy="${mass / 12.0 * (height1*height1 + width*width)}" iyz="0.0"
+    izz="${mass / 12.0 * (width*width + width*width)}"/>
     </inertial>
   </link>
 
@@ -75,7 +75,7 @@
     <visual>
       <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
       <geometry>
-          <box size="${width} ${width} ${height2}"/>
+        <box size="${width} ${width} ${height2}"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -84,9 +84,9 @@
       <origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
       <mass value="${mass}"/>
       <inertia
-	  ixx="${mass / 12.0 * (width*width + height2*height2)}" ixy="0.0" ixz="0.0"
-	  iyy="${mass / 12.0 * (height2*height2 + width*width)}" iyz="0.0"
-	  izz="${mass / 12.0 * (width*width + width*width)}"/>
+    ixx="${mass / 12.0 * (width*width + height2*height2)}" ixy="0.0" ixz="0.0"
+    iyy="${mass / 12.0 * (height2*height2 + width*width)}" iyz="0.0"
+    izz="${mass / 12.0 * (width*width + width*width)}"/>
     </inertial>
   </link>
 
@@ -119,10 +119,47 @@
       <origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/>
       <mass value="${mass}"/>
       <inertia
-	  ixx="${mass / 12.0 * (width*width + height3*height3)}" ixy="0.0" ixz="0.0"
-	  iyy="${mass / 12.0 * (height3*height3 + width*width)}" iyz="0.0"
-	  izz="${mass / 12.0 * (width*width + width*width)}"/>
+    ixx="${mass / 12.0 * (width*width + height3*height3)}" ixy="0.0" ixz="0.0"
+    iyy="${mass / 12.0 * (height3*height3 + width*width)}" iyz="0.0"
+    izz="${mass / 12.0 * (width*width + width*width)}"/>
     </inertial>
   </link>
 
+  <!-- Gazebo colors and frictions -->
+  <!-- Link1 -->
+  <gazebo reference="link1">
+    <material>
+      <diffuse> 1 0.423529412 0.039215686 1</diffuse>
+      <ambient> 1 0.423529412 0.039215686 1</ambient>
+      <specular>1 0.423529412 0.039215686 1</specular>
+    </material>
+  </gazebo>
+
+  <!-- Link2 -->
+  <gazebo reference="link2">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <material>
+      <diffuse> 0 0 0 1</diffuse>
+      <ambient> 0 0 0 1</ambient>
+      <specular>0 0 0 1</specular>
+    </material>
+  </gazebo>
+
+  <!-- Link3 -->
+  <gazebo reference="link3">
+    <mu1>0.2</mu1>
+    <mu2>0.2</mu2>
+    <material>
+      <diffuse> 1 0.423529412 0.039215686 1</diffuse>
+      <ambient> 1 0.423529412 0.039215686 1</ambient>
+      <specular>1 0.423529412 0.039215686 1</specular>
+    </material>
+  </gazebo>
+
+  <!-- Joint states plugin -->
+  <gazebo>
+    <plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher"/>
+  </gazebo>
+
 </robot>
\ No newline at end of file