From af8dbaa06c01893801d33421788a0d4d6cc4da22 Mon Sep 17 00:00:00 2001
From: mizonon <mizoguchi@rt-net.jp>
Date: Wed, 27 Nov 2024 18:03:39 +0900
Subject: [PATCH] =?UTF-8?q?Ignition=E3=82=92=E4=BD=BF=E7=94=A8=E3=81=99?=
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---
 .../crane_plus_description/robot_description_loader.py       | 2 --
 crane_plus_description/urdf/crane_plus.gazebo.xacro          | 1 -
 .../urdf/crane_plus.gazebo_ros2_control.xacro                | 1 -
 crane_plus_description/urdf/crane_plus.urdf.xacro            | 5 +----
 crane_plus_gazebo/launch/crane_plus_with_table.launch.py     | 1 -
 5 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/crane_plus_description/crane_plus_description/robot_description_loader.py b/crane_plus_description/crane_plus_description/robot_description_loader.py
index ebb9950..48e271c 100755
--- a/crane_plus_description/crane_plus_description/robot_description_loader.py
+++ b/crane_plus_description/crane_plus_description/robot_description_loader.py
@@ -27,7 +27,6 @@ def __init__(self):
             'crane_plus.urdf.xacro')
         self.port_name = '/dev/ttyUSB0'
         self.use_gazebo = 'false'
-        self.use_ignition = 'false'
         self.use_camera = 'false'
         self.gz_control_config_package = ''
         self.gz_control_config_file_path = ''
@@ -38,7 +37,6 @@ def load(self):
                 self.robot_description_path,
                 ' port_name:=', self.port_name,
                 ' use_gazebo:=', self.use_gazebo,
-                ' use_ignition:=', self.use_ignition,
                 ' use_camera:=', self.use_camera,
                 ' gz_control_config_package:=', self.gz_control_config_package,
                 ' gz_control_config_file_path:=', self.gz_control_config_file_path
diff --git a/crane_plus_description/urdf/crane_plus.gazebo.xacro b/crane_plus_description/urdf/crane_plus.gazebo.xacro
index 9c8984d..3faf9dd 100644
--- a/crane_plus_description/urdf/crane_plus.gazebo.xacro
+++ b/crane_plus_description/urdf/crane_plus.gazebo.xacro
@@ -26,7 +26,6 @@
             name_link_3
             name_link_4
             name_link_hand
-            use_ignition
             config_package
             config_file_path
             ">
diff --git a/crane_plus_description/urdf/crane_plus.gazebo_ros2_control.xacro b/crane_plus_description/urdf/crane_plus.gazebo_ros2_control.xacro
index 2572255..9567821 100644
--- a/crane_plus_description/urdf/crane_plus.gazebo_ros2_control.xacro
+++ b/crane_plus_description/urdf/crane_plus.gazebo_ros2_control.xacro
@@ -18,7 +18,6 @@
             joint_4_upper_limit
             joint_hand_lower_limit
             joint_hand_upper_limit
-            use_ignition
             ">
 
     <ros2_control name="${name}" type="system">
diff --git a/crane_plus_description/urdf/crane_plus.urdf.xacro b/crane_plus_description/urdf/crane_plus.urdf.xacro
index d783b81..8855bd1 100644
--- a/crane_plus_description/urdf/crane_plus.urdf.xacro
+++ b/crane_plus_description/urdf/crane_plus.urdf.xacro
@@ -13,7 +13,6 @@
   <xacro:include filename="$(find crane_plus_description)/urdf/crane_plus.gazebo_ros2_control.xacro"/>
 
   <xacro:arg name="use_gazebo" default="false" />
-  <xacro:arg name="use_ignition" default="false" />
   <xacro:arg name="use_camera" default="false" />
   <xacro:arg name="port_name" default="/dev/ttyUSB0" />
   <xacro:arg name="baudrate" default="1000000" />
@@ -130,7 +129,6 @@
       name_link_3="${NAME_LINK_3}"
       name_link_4="${NAME_LINK_4}"
       name_link_hand="${NAME_LINK_HAND}"
-      use_ignition="$(arg use_ignition)"
       config_package="$(arg gz_control_config_package)" 
       config_file_path="$(arg gz_control_config_file_path)" />
 
@@ -150,8 +148,7 @@
       joint_4_lower_limit="${JOINT_4_LOWER_LIMIT}"
       joint_4_upper_limit="${JOINT_4_UPPER_LIMIT}"
       joint_hand_lower_limit="${JOINT_HAND_LOWER_LIMIT}"
-      joint_hand_upper_limit="${JOINT_HAND_UPPER_LIMIT}"
-      use_ignition="$(arg use_ignition)" />
+      joint_hand_upper_limit="${JOINT_HAND_UPPER_LIMIT}"/> 
   </xacro:if>
 
 </robot>
diff --git a/crane_plus_gazebo/launch/crane_plus_with_table.launch.py b/crane_plus_gazebo/launch/crane_plus_with_table.launch.py
index 5041565..2d614d7 100644
--- a/crane_plus_gazebo/launch/crane_plus_with_table.launch.py
+++ b/crane_plus_gazebo/launch/crane_plus_with_table.launch.py
@@ -53,7 +53,6 @@ def generate_launch_description():
 
     description_loader = RobotDescriptionLoader()
     description_loader.use_gazebo = 'true'
-    description_loader.use_ignition = 'true'
     description_loader.gz_control_config_package = 'crane_plus_control'
     description_loader.gz_control_config_file_path = 'config/crane_plus_controllers.yaml'
     description = description_loader.load()