From e580bbcd1eb6902c658ed3ece3b3b28dfd57eb17 Mon Sep 17 00:00:00 2001
From: JaeyoungLim <jaeyoung@auterion.com>
Date: Sat, 30 Jan 2021 21:26:49 +0100
Subject: [PATCH] Use include model syntax for bluerov (#702)

This commit uses a include syntax in sdf, instead of the cascaded model structure
---
 .../uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf | 53 +++----------------
 1 file changed, 7 insertions(+), 46 deletions(-)

diff --git a/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf b/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf
index 160dc4e413..e99e8199a1 100644
--- a/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf
+++ b/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf
@@ -33,53 +33,14 @@
 
 
 <!-- GPS for getting the local pose -->
-    <model name='gps0'>
-      <link name='link'>
-        <pose>0 0 0 0 0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 0 0</pose>
-          <mass>0.01</mass>
-          <inertia>
-            <ixx>2.1733e-06</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>2.1733e-06</iyy>
-            <iyz>0</iyz>
-            <izz>1.8e-07</izz>
-          </inertia>
-        </inertial>
-        <visual name='visual'>
-          <geometry>
-            <cylinder>
-              <radius>0.01</radius>
-              <length>0.002</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <script>
-              <name>Gazebo/Black</name>
-              <uri>__default__</uri>
-            </script>
-          </material>
-        </visual>
-        <sensor name='gps' type='gps'>
-          <pose>0 0 0 0 0 0</pose>
-          <plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
-            <robotNamespace/>
-            <gpsNoise>1</gpsNoise>
-            <gpsXYRandomWalk>2.0</gpsXYRandomWalk>
-            <gpsZRandomWalk>4.0</gpsZRandomWalk>
-            <gpsXYNoiseDensity>0.0002</gpsXYNoiseDensity>
-            <gpsZNoiseDensity>0.0004</gpsZNoiseDensity>
-            <gpsVXYNoiseDensity>0.2</gpsVXYNoiseDensity>
-            <gpsVZNoiseDensity>0.4</gpsVZNoiseDensity>
-          </plugin>
-        </sensor>
-      </link>
-    </model>
-    <joint name='gps0_joint' type='fixed'>
+    <include>
+      <uri>model://gps</uri>
+      <pose>0 0 0 0 0 0</pose>
+      <name>gps</name>
+    </include>
+    <joint name='gps_joint' type='fixed'>
       <parent>base_link</parent>
-      <child>gps0::link</child>
+      <child>gps::link</child>
     </joint>