From f8149d0033c570099cc6c3251f65e18863465eef Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 1 Dec 2024 02:34:03 -0300
Subject: [PATCH] Remove support to Gazebo Classic.

---
 q2d_description/launch/gazebo.launch.xml   | 27 ++++++++++-------
 q2d_description/launch/ignition.launch.xml | 47 ------------------------------
 q2d_description/launch/q2d.launch.xml      |  2 +-
 q2d_description/urdf/q2d.urdf              | 16 +---------
 4 files changed, 19 insertions(+), 73 deletions(-)
 delete mode 100644 q2d_description/launch/ignition.launch.xml

diff --git a/q2d_description/launch/gazebo.launch.xml b/q2d_description/launch/gazebo.launch.xml
index 60fd755..356ab65 100644
--- a/q2d_description/launch/gazebo.launch.xml
+++ b/q2d_description/launch/gazebo.launch.xml
@@ -1,7 +1,7 @@
 <!--******************************************************************************
 	                   Quanser 2DSFJE Description
-	                     Gazebo Launch File
-          Copyright (C) 2018, 2021 Walter Fetter Lages <w.fetter@ieee.org>
+	                   Gazebo Sim Launch File
+          Copyright (C) 2018..2024 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
@@ -16,7 +16,7 @@
         You should have received a copy of the GNU General Public License
         along with this program.  If not, see
         <http://www.gnu.org/licenses/>.
-
+        
 *******************************************************************************-->
 
 <launch>
@@ -24,17 +24,24 @@
 	<arg name="gui" default="true"/>
 	<arg name="use_sim_time" default="true"/>
 
-	<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
-		<arg name="pause" value="$(var pause)"/>
-		<arg name="gui" value="$(var gui)"/>
-		<arg name="use_sim_time" value="$(var use_sim_time)"/>
-		<arg name="world" value="worlds/empty_sky.world" />
-		<arg name="extra_gazebo_args" value="--ros-args --params-file $(find-pkg-share q2d_description)/config/gazebo.yaml"/>
+	<arg unless="$(var pause)" name="gz_pause" default="-r"/>
+	<arg if="$(var pause)" name="gz_pause" default=""/>
+		
+	<arg unless="$(var gui)" name="gz_gui" default="-s"/>
+	<arg if="$(var gui)" name="gz_gui" default=""/>
+
+	<include file="$(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py">
+		<arg name="gz_args" value="$(var gz_pause) $(var gz_gui) empty.sdf"/>
 	</include>
 
 	<include file="$(find-pkg-share q2d_description)/launch/q2d.launch.xml">
 		<arg name="use_sim_time" value="$(var use_sim_time)"/>
+		<arg name="hardware" value="gazebo"/>
 	</include>
 
-	<node name="q2d_spawner" pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity q2d" />
+	<node name="q2d_spawner" pkg="ros_gz_sim" exec="create" args="-topic robot_description -name q2d"/>
+
+	<node name="clock_bridge" pkg="ros_gz_bridge" exec="parameter_bridge" args="/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock">
+		<param name="use_sim_time" value="$(var use_sim_time)"/>
+	</node>
 </launch>
diff --git a/q2d_description/launch/ignition.launch.xml b/q2d_description/launch/ignition.launch.xml
deleted file mode 100644
index 3690491..0000000
--- a/q2d_description/launch/ignition.launch.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<!--******************************************************************************
-	                   Quanser 2DSFJE Description
-	                   Ignition Gazebo Launch File
-          Copyright (C) 2018..2023 Walter Fetter Lages <w.fetter@ieee.org>
-
-        This program is free software: you can redistribute it and/or modify
-        it under the terms of the GNU General Public License as published by
-        the Free Software Foundation, either version 3 of the License, or
-        (at your option) any later version.
-
-        This program is distributed in the hope that it will be useful, but
-        WITHOUT ANY WARRANTY; without even the implied warranty of
-        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-        Geneal Public License for more details.
-
-        You should have received a copy of the GNU General Public License
-        along with this program.  If not, see
-        <http://www.gnu.org/licenses/>.
-        
-*******************************************************************************-->
-
-<launch>
-	<arg name="pause" default="true"/>
-	<arg name="gui" default="true"/>
-	<arg name="use_sim_time" default="true"/>
-
-	<arg unless="$(var pause)" name="gz_pause" default="-r"/>
-	<arg if="$(var pause)" name="gz_pause" default=""/>
-		
-	<arg unless="$(var gui)" name="gz_gui" default="-s"/>
-	<arg if="$(var gui)" name="gz_gui" default=""/>
-
-	<include file="$(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py">
-		<arg name="gz_args" value="$(var gz_pause) $(var gz_gui) empty.sdf"/>
-	</include>
-
-	<include file="$(find-pkg-share q2d_description)/launch/q2d.launch.xml">
-		<arg name="use_sim_time" value="$(var use_sim_time)"/>
-		<arg name="hardware" value="ignition"/>
-	</include>
-
-	<node name="q2d_spawner" pkg="ros_gz_sim" exec="create" args="-topic robot_description -name q2d"/>
-
-	<node name="clock_bridge" pkg="ros_gz_bridge" exec="parameter_bridge" args="/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock">
-		<param name="use_sim_time" value="$(var use_sim_time)"/>
-	</node>
-</launch>
diff --git a/q2d_description/launch/q2d.launch.xml b/q2d_description/launch/q2d.launch.xml
index 428eb7c..c72d353 100644
--- a/q2d_description/launch/q2d.launch.xml
+++ b/q2d_description/launch/q2d.launch.xml
@@ -1,7 +1,7 @@
 <!--******************************************************************************
 	                   Quanser 2DSFJE Description
 	                   Quanser 2DSFJE Launch File
-          Copyright (C) 2018..2023 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2018..2024 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
diff --git a/q2d_description/urdf/q2d.urdf b/q2d_description/urdf/q2d.urdf
index f2d2c50..b55f348 100644
--- a/q2d_description/urdf/q2d.urdf
+++ b/q2d_description/urdf/q2d.urdf
@@ -251,13 +251,7 @@
 
 	<ros2_control name="Q2dSystem" type="system">
 		<xacro:if value="${hardware == 'gazebo'}">
-			<!-- Gazebo Classic -->
-			<hardware>
-				<plugin>gazebo_ros2_control/GazeboSystem</plugin>
-			</hardware>
-		</xacro:if>
-		<xacro:if value="${hardware == 'ignition'}">
-			<!-- Gazebo Ignition -->
+			<!-- Gazebo Sim-->
 			<hardware>
 				<plugin>ign_ros2_control/IgnitionSystem</plugin>
 			</hardware>
@@ -292,14 +286,6 @@
 
 	<gazebo>
 		<xacro:if value="${hardware == 'gazebo'}">
-			<!-- Gazebo Classic -->
-			<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-				<robot_param>robot_description</robot_param>
-				<robot_param_node>robot_state_publisher</robot_param_node>
-				<parameters>$(find q2d_description)/config/controller_manager.yaml</parameters>
-			</plugin>
-		</xacro:if>
-		<xacro:if value="${hardware == 'ignition'}">
 			<!-- Gazebo Ignition -->
 			<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
 				<robot_param>robot_description</robot_param>
-- 
2.12.0