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Add a workaround for https://github.com/osrf/gazebo/issues/2728 #40

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Jul 7, 2020
+10 −2
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Add a workaround for https://github.com/osrf/gazebo/issues/2728 #40

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8 changes: 8 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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2 changes: 1 addition & 1 deletion feet_fixed_model.sdf.in
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@@ -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>
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2 changes: 1 addition & 1 deletion fixed_model.sdf.in
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@@ -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>
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