From 41720c2552a4fc65402c2bac2ad815ae5d0610ef Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Tue, 7 Jul 2020 14:00:57 +0200
Subject: [PATCH] Add a workaround for
 https://github.com/osrf/gazebo/issues/2728

Fix https://github.com/robotology/icub-models/issues/39
---
 CMakeLists.txt          | 8 ++++++++
 feet_fixed_model.sdf.in | 2 +-
 fixed_model.sdf.in      | 2 +-
 3 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e7adba5..9e4f7fc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,6 +28,14 @@ file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/ros DESTINATION ${CMAKE_CURRENT_BINARY_DIR
 # is enabled
 option(ICUB_MODELS_INSTALL_ALL_GAZEBO_MODELS OFF)
 
+# Workaround for https://github.com/robotology/icub-models/issues/39 and 
+# https://github.com/osrf/gazebo/issues/2728
+set(ICUB_MODELS_SDF_VERSION "1.5")
+find_package(GAZEBO QUIET)
+if(GAZEBO_FOUND AND GAZEBO_VERSION VERSION_GREATER_EQUAL 11.0)
+  set(ICUB_MODELS_SDF_VERSION "1.7")
+endif()
+
 # Note: all the models run in Gazebo, but this two are the only one that
 # run with the default physics settings of Gazebo, see issue
 # https://github.com/robotology/icub-model-generator/issues/52 for more info
diff --git a/feet_fixed_model.sdf.in b/feet_fixed_model.sdf.in
index 60bc297..b4c8a49 100644
--- a/feet_fixed_model.sdf.in
+++ b/feet_fixed_model.sdf.in
@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version='1.5'>
+<sdf version='@ICUB_MODELS_SDF_VERSION@'>
   <model name="iCub_feet_fixed">
     <include>
       <uri>model://@ROBOT_NAME@</uri>
diff --git a/fixed_model.sdf.in b/fixed_model.sdf.in
index 55525a7..852f1bf 100644
--- a/fixed_model.sdf.in
+++ b/fixed_model.sdf.in
@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version='1.5'>
+<sdf version='@ICUB_MODELS_SDF_VERSION@'>
   <model name="iCub_fixed">
     <include>
       <uri>model://@ROBOT_NAME@</uri>