From 50823614aa9c06e3a3ff56ef7fb9a069395beaa4 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 21 Mar 2018 13:23:04 -0300
Subject: [PATCH] twil_description: remove twil_wam

---
 twil_description/launch/twil_wam.launch     |  4 ----
 twil_description/launch/twil_wam_sim.launch | 13 ------------
 twil_description/xacro/twil.urdf.xacro      |  7 +++++++
 twil_description/xacro/twil_wam.urdf.xacro  | 31 -----------------------------
 4 files changed, 7 insertions(+), 48 deletions(-)
 delete mode 100644 twil_description/launch/twil_wam.launch
 delete mode 100644 twil_description/launch/twil_wam_sim.launch
 delete mode 100644 twil_description/xacro/twil_wam.urdf.xacro

diff --git a/twil_description/launch/twil_wam.launch b/twil_description/launch/twil_wam.launch
deleted file mode 100644
index a86b321..0000000
--- a/twil_description/launch/twil_wam.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
-	<param name="robot_description" command="$(find xacro)/xacro.py '$(find twil_description)/xacro/twil_wam.urdf.xacro'" />
-	<node name="twil_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model twil" respawn="false" output="screen" />
-</launch>
diff --git a/twil_description/launch/twil_wam_sim.launch b/twil_description/launch/twil_wam_sim.launch
deleted file mode 100644
index 0edb037..0000000
--- a/twil_description/launch/twil_wam_sim.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-	<arg name="paused" default="false"/>
-
-	<!-- Start Gazebo -->
-	<include file="$(find gazebo_ros)/launch/empty_world.launch">
-		<arg name="paused" value="$(arg paused)"/>
-		<arg name="world_name" value="worlds/empty_sky.world" />
-        </include>
-
-	<include file="$(find twil_description)/launch/twil_wam.launch"/>
-</launch>
diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro
index bd22a0b..ebc8381 100644
--- a/twil_description/xacro/twil.urdf.xacro
+++ b/twil_description/xacro/twil.urdf.xacro
@@ -98,6 +98,13 @@
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" >
       <robotNamespace>/twil</robotNamespace>
+
+      <!-- Custom plugin -->
+      <!-- robotSimType>twil_gazebo_ros_control/TwilRobotHWSim</robotSimType -->
+
+      <!-- Default plugin -->
+      <!-- robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType -->
+
       <controlPeriod>0.001</controlPeriod>
     </plugin>
   </gazebo>
diff --git a/twil_description/xacro/twil_wam.urdf.xacro b/twil_description/xacro/twil_wam.urdf.xacro
deleted file mode 100644
index d594217..0000000
--- a/twil_description/xacro/twil_wam.urdf.xacro
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="twil">
-
-  <xacro:include filename="$(find twil_description)/xacro/twil.urdf.xacro" />
-
-  <xacro:include filename="$(find wam_description)/xacro/wam_bhand.urdf.xacro" />
-
-
-  <joint name="twil_wam" type="fixed">
-    <parent link="chassis_top"/>
-    <child link="wam_origin" />
-    <origin xyz="-0.220 -0.140 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-
-
-  <xacro:include filename="$(find twil_description)/xacro/castor_support.urdf.xacro" />
-
-  <xacro:castor_support name="castor_support_front" parent="chassis">
-    <origin xyz="0.2 0 -0.002" rpy="0 0 0" />
-  </xacro:castor_support>
-
-  <xacro:castor_base name="castor_base_front" parent="castor_support_front">
-    <origin xyz="0 0 -0.1325" rpy="0 0 0" />
-  </xacro:castor_base>
-
-  <xacro:castor_wheel name="castor_wheel_front" parent="castor_base_front">
-    <origin xyz="-0.04 0 0" rpy="0 0 0" />
-  </xacro:castor_wheel>
-
-
-</robot>
-- 
2.12.0