From 4493ae06158b1882bc7487594223e6515194ce04 Mon Sep 17 00:00:00 2001
From: nicholasl23638 <nicholasl23638@gmail.com>
Date: Sun, 21 Jul 2024 11:17:33 -0500
Subject: [PATCH] According to
 https://github.com/ros-controls/gazebo_ros2_control/issues/295, comments in
 the xacro cause parsing issues

---
 .../gazebo_ros2_control_plugin.xacro          | 13 ------
 .../description/hyperdog_gazebo.xacro         | 22 ----------
 .../description/hyperdog_urdf_joints.xacro    | 25 -----------
 .../description/hyperdog_urdf_links.xacro     | 41 -------------------
 4 files changed, 101 deletions(-)

diff --git a/hyperdog_gazebo_sim/description/gazebo_ros2_control_plugin.xacro b/hyperdog_gazebo_sim/description/gazebo_ros2_control_plugin.xacro
index 519c949..0c37a72 100644
--- a/hyperdog_gazebo_sim/description/gazebo_ros2_control_plugin.xacro
+++ b/hyperdog_gazebo_sim/description/gazebo_ros2_control_plugin.xacro
@@ -1,18 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     
-<!-- ************* JOINT CONTROLLER GAZEBO PLUGIN ************** -->
-
-    <!-- 
-    _____________________________________________________________________
-        include this file into: /description/hyperdog.urdf.xacro 
-        using following line: 
-                    <xacro:include filename="gazebo_ros2_control_plugin.xacro" /> 
-    _____________________________________________________________________ -->
-
-
-
-    <!-- CONFIGURE JOINTS OF THE ROBOT -->
     <ros2_control name="GazeboSystem" type="System">
         <hardware>
             <plugin>gazebo_ros2_control/GazeboSystem</plugin>
@@ -163,7 +151,6 @@
         </joint>
     </ros2_control>
 
-    <!--  CONFIGURE THE GAZEBO PLUGIN -->
     <gazebo>
         <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
           <parameters>$(find hyperdog_gazebo_sim)/config/hyperdog_joint_controller.yaml</parameters>
diff --git a/hyperdog_gazebo_sim/description/hyperdog_gazebo.xacro b/hyperdog_gazebo_sim/description/hyperdog_gazebo.xacro
index d7ce85b..a4d1493 100644
--- a/hyperdog_gazebo_sim/description/hyperdog_gazebo.xacro
+++ b/hyperdog_gazebo_sim/description/hyperdog_gazebo.xacro
@@ -1,16 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-<!--
-    _____________________________________________________________________
-        include this file into: /description/hyperdog.urdf.xacro 
-        using following line: 
-                    <xacro:include filename="hyperdog_gazebo.xacro" /> 
-    _____________________________________________________________________ 
-    * Gazebo is unable to use the same <material> tags that are already in the URDF (that RViz uses).
-    Instead, we need to add gazebo tags for our links that refer to Gazebo materials
--->
-
     <xacro:include filename="physics.xacro" /> 
 
     <xacro:macro name="gz_hip">
@@ -31,8 +21,6 @@
         <maxVel>0.01</maxVel>
         <self_collide>1</self_collide>
         <material>Gazebo/Orange</material>
-        <!-- <implicitSpringDamper>1</implicitSpringDamper>
-        <springStiffness>100</springStiffness> -->
     </xacro:macro>
 
     <xacro:macro name="gz_lleg">
@@ -45,8 +33,6 @@
         <self_collide>1</self_collide> 
         <material>Gazebo/DarkYellow</material>
         <minDepth>0.001</minDepth> 
-        <!-- <implicitSpringDamper>1</implicitSpringDamper>
-        <springStiffness>100</springStiffness> -->
     </xacro:macro>
 
     <xacro:macro name="gz_foot">
@@ -67,17 +53,13 @@
 
 
 
-    <!-- body -->
     <gazebo reference="base_link">
         <mu1>0.05</mu1>
         <mu2>0.05</mu2>
-        <!-- <kp>1000000.0</kp>
-        <kd>1.0</kd> -->
         <maxVel>0.01</maxVel>
         <material>Gazebo/DarkGrey  </material>
     </gazebo>
 
-    <!-- hip -->
     <gazebo reference="FR_hip_link">
         <xacro:gz_hip></xacro:gz_hip>
     </gazebo>   
@@ -91,7 +73,6 @@
         <xacro:gz_hip></xacro:gz_hip>
     </gazebo>
 
-    <!-- uleg -->
     <gazebo reference="FR_uleg_link">
         <xacro:gz_uleg></xacro:gz_uleg>
     </gazebo>   
@@ -105,7 +86,6 @@
         <xacro:gz_uleg></xacro:gz_uleg>
     </gazebo>
     
-    <!-- lleg -->
     <gazebo reference="FR_lleg_link">
         <xacro:gz_lleg></xacro:gz_lleg>
     </gazebo>
@@ -119,8 +99,6 @@
         <xacro:gz_lleg></xacro:gz_lleg>
     </gazebo>
 
-
-    <!-- feet -->
     <gazebo reference="FR_foot">
         <xacro:gz_foot></xacro:gz_foot>
     </gazebo>
diff --git a/hyperdog_gazebo_sim/description/hyperdog_urdf_joints.xacro b/hyperdog_gazebo_sim/description/hyperdog_urdf_joints.xacro
index bececc3..f8ff2fa 100644
--- a/hyperdog_gazebo_sim/description/hyperdog_urdf_joints.xacro
+++ b/hyperdog_gazebo_sim/description/hyperdog_urdf_joints.xacro
@@ -1,16 +1,8 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-<!-- 
-    _____________________________________________________________________
-        include this file into: /description/hyperdog.urdf.xacro 
-        using following line: 
-                    <xacro:include filename="hyperdog_urdf_joints.xacro" /> 
-    _____________________________________________________________________ -->
-
     <xacro:include filename="consts.xacro" /> 
 
-    <!-- Limits -->
     <xacro:macro name="hip_limits">
         <limit lower="${hip_low_limit}" upper="${hip_up_limit}" velocity="${velocity}" effort="${effort}"/> <!-- effort = 7 -->
     </xacro:macro>
@@ -22,13 +14,11 @@
     </xacro:macro>
 
 
-    <!-- ******** Inertial-base joint ********** -->
     <joint name="inertial_joint" type="fixed">
         <parent link="base_link"/>
         <child link="inertial_link"/>
     </joint>
 
-    <!-- *********  FR_hip joint ********* -->
     <joint name="FR_hip_joint" type="revolute">
         <axis xyz="-1 0 0"/>
         <origin xyz="0.175 -0.066 0" rpy="0 0 0"/>
@@ -39,7 +29,6 @@
             <xacro:hip_joint_dynamics></xacro:hip_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  FL_hip  ********* -->
     <joint name="FL_hip_joint" type="revolute">
         <axis xyz="1 0 0"/>
         <origin xyz="0.175 0.066 0" rpy="0 0 0"/>
@@ -50,7 +39,6 @@
             <xacro:hip_joint_dynamics></xacro:hip_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BR_hip  ********* -->
     <joint name="BR_hip_joint" type="revolute">
         <axis xyz="-1 0 0"/>
         <origin xyz="-0.175 -0.066 0" rpy="0 0 0"/>
@@ -61,7 +49,6 @@
             <xacro:hip_joint_dynamics></xacro:hip_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BL_hip  ********* -->
     <joint name="BL_hip_joint" type="revolute">
         <axis xyz="1 0 0"/>
         <origin xyz="-0.175 0.066 0" rpy="0 0 0"/>
@@ -76,7 +63,6 @@
 
 
 
-    <!-- *********  FR_uleg joint ********* -->
     <joint name="FR_uleg_joint" type="revolute">
         <axis xyz="0 -1 0"/>
         <origin xyz="0 -0.104 0" rpy="0 0 0"/>
@@ -87,7 +73,6 @@
             <xacro:uleg_joint_dynamics></xacro:uleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  FL_uleg  ********* -->
     <joint name="FL_uleg_joint" type="revolute">
         <axis xyz="0 -1 0"/>
         <origin xyz="0 0.104 0" rpy="0 0 0"/>
@@ -98,7 +83,6 @@
             <xacro:uleg_joint_dynamics></xacro:uleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BR_uleg  ********* -->
     <joint name="BR_uleg_joint" type="revolute">
         <axis xyz="0 -1 0"/>
         <origin xyz="0 -0.104 0" rpy="0 0 0"/>
@@ -109,7 +93,6 @@
             <xacro:uleg_joint_dynamics></xacro:uleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BL_uleg  ********* -->
     <joint name="BL_uleg_joint" type="revolute">
         <axis xyz="0 -1 0"/>
         <origin xyz="0 0.104 0" rpy="0 0 0"/>
@@ -123,7 +106,6 @@
 
 
 
-    <!-- *********  FR_lleg  ********* -->
     <joint name="FR_lleg_joint" type="revolute">
         <axis xyz="0 1 0"/>
         <origin xyz="-0.15 0 0" rpy="0 0.0 0"/>
@@ -134,7 +116,6 @@
             <xacro:lleg_joint_dynamics></xacro:lleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  FL_lleg  ********* -->
     <joint name="FL_lleg_joint" type="revolute">
         <axis xyz="0 1 0"/>
         <origin xyz="-0.15 0 0" rpy="0 0.0 0"/>
@@ -145,7 +126,6 @@
             <xacro:lleg_joint_dynamics></xacro:lleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BR_lleg  ********* -->
     <joint name="BR_lleg_joint" type="revolute">
         <origin xyz="-0.15 0 0" rpy="0 0.0 0"/>
         <parent link="BR_uleg_link"/>
@@ -156,7 +136,6 @@
             <xacro:lleg_joint_dynamics></xacro:lleg_joint_dynamics>
         </xacro:if>
     </joint>
-    <!-- *********  BL_lleg  ********* -->
     <joint name="BL_lleg_joint" type="revolute">
         <axis xyz="0 1 0"/>
         <origin xyz="-0.15 0 0" rpy="0 0.0 0"/>
@@ -170,25 +149,21 @@
 
 
 
-     <!-- *********  FR_FOOT  ********* -->
      <joint name="FR_foot_fixed" type="fixed">
         <origin rpy="0 0 0" xyz="0.14 0 0"/>
         <parent link="FR_lleg_link"/>
         <child link="FR_foot"/>
       </joint>
-     <!-- *********  FL_FOOT  ********* -->
      <joint name="FL_foot_fixed" type="fixed">
         <origin rpy="0 0 0" xyz="0.14 0 0"/>
         <parent link="FL_lleg_link"/>
         <child link="FL_foot"/>
       </joint>
-     <!-- *********  BR_FOOT  ********* -->
      <joint name="BR_foot_fixed" type="fixed">
         <origin rpy="0 0 0" xyz="0.14 0 0"/>
         <parent link="BR_lleg_link"/>
         <child link="BR_foot"/>
       </joint>
-    <!-- *********  BL_FOOT  ********* -->
     <joint name="BL_foot_fixed" type="fixed">
         <origin rpy="0 0 0" xyz="0.14 0 0"/>
         <parent link="BL_lleg_link"/>
diff --git a/hyperdog_gazebo_sim/description/hyperdog_urdf_links.xacro b/hyperdog_gazebo_sim/description/hyperdog_urdf_links.xacro
index 1e7ad7f..dab7a0a 100644
--- a/hyperdog_gazebo_sim/description/hyperdog_urdf_links.xacro
+++ b/hyperdog_gazebo_sim/description/hyperdog_urdf_links.xacro
@@ -1,22 +1,10 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-<!-- 
-    * Autor: nipun.dhananjaya@gmail.com
-    * Date:  13.03.2023
-
-
-    _____________________________________________________________________
-        include this file into: /description/hyperdog.urdf.xacro 
-        using following line: 
-                    <xacro:include filename="hyperdog_urdf_links.xacro" /> 
-    _____________________________________________________________________ -->
-
     <xacro:include filename="consts.xacro" /> 
     <xacro:include filename="physics.xacro" /> 
 
 
-    <!-- load meshes -->
     <xacro:macro name="body_mesh">
         <mesh filename="file://$(find hyperdog_gazebo_sim)/meshes/body.stl" scale="0.001 0.001 0.001"/>
     </xacro:macro>
@@ -37,14 +25,11 @@
     </xacro:macro>
    
 
-
-    <!-- *********** Inertial link *********** -->
     <link name="inertial_link">
         <xacro:inertial_body></xacro:inertial_body>
     </link>
 
 
-    <!-- *********** base link *********** -->
     <link name="base_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -64,10 +49,6 @@
         
     </link>
 
-
-    <!-- !!!!!!!!!!!!!!!!!!!!!!! HIPS !!!!!!!!!!!!!!!!!!!!!!!!!!!! -->
-
-    <!-- *********** FR_hip *********** -->
     <link name="FR_hip_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -86,7 +67,6 @@
         </collision>
         <xacro:inertial_right_hip></xacro:inertial_right_hip>
     </link>
-    <!-- *********** FL_hip ********** -->
     <link name="FL_hip_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -105,7 +85,6 @@
         </collision>
         <xacro:inertial_left_hip></xacro:inertial_left_hip>
     </link>
-    <!-- *********** BR_hip ********** -->
     <link name="BR_hip_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -124,7 +103,6 @@
         </collision>
         <xacro:inertial_right_hip></xacro:inertial_right_hip>
     </link>
-    <!-- *********** BL_hip ********** -->
     <link name="BL_hip_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -145,9 +123,6 @@
     </link>
 
 
-    <!-- !!!!!!!!!!!!!!!!!!!!!!! ULEGs !!!!!!!!!!!!!!!!!!!!!!!!!!!! -->
-
-    <!-- *********** FR_uleg ********** -->
     <link name="FR_uleg_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -166,7 +141,6 @@
         </collision>
         <xacro:inertial_right_uleg></xacro:inertial_right_uleg>
     </link>
-    <!-- *********** FL_uleg ********** -->
     <link name="FL_uleg_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -185,7 +159,6 @@
         </collision>
         <xacro:inertial_left_uleg></xacro:inertial_left_uleg>
     </link>
-    <!-- *********** BR_uleg ********** -->
     <link name="BR_uleg_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -204,7 +177,6 @@
         </collision>
         <xacro:inertial_right_uleg></xacro:inertial_right_uleg>
     </link>
-    <!-- *********** BL_uleg ********** -->
     <link name="BL_uleg_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -225,9 +197,6 @@
     </link>
 
 
-    <!-- !!!!!!!!!!!!!!!!!!!!!!! LLEGs !!!!!!!!!!!!!!!!!!!!!!!!!!!! -->
-
-    <!-- *********** FR_lleg ********** -->
     <link name="FR_lleg_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -246,7 +215,6 @@
         </collision>
         <xacro:inertial_right_lleg></xacro:inertial_right_lleg>
     </link>
-    <!-- *********** FL_lleg ********** -->
     <link name="FL_lleg_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -266,7 +234,6 @@
         <xacro:inertial_left_lleg></xacro:inertial_left_lleg>
 
     </link>
-      <!-- *********** BR_lleg ********** -->
     <link name="BR_lleg_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -286,7 +253,6 @@
         <xacro:inertial_right_lleg></xacro:inertial_right_lleg>
 
     </link>
-    <!-- *********** BL_lleg ********** -->
     <link name="BL_lleg_link">
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -307,10 +273,6 @@
     </link>
 
 
-
-    <!-- !!!!!!!!!!!!!!!!!!!!!!! FEET !!!!!!!!!!!!!!!!!!!!!!!!!!!! -->
-
-    <!-- *********** FL FOOT ********** -->
     <link name="FL_foot">
         <visual>
           <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -336,7 +298,6 @@
         </collision>
         <xacro:inertial_foot></xacro:inertial_foot>
       </link>
-    <!-- *********** FR FOOT ********** -->
     <link name="FR_foot">
         <visual>
           <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -362,7 +323,6 @@
         </collision>
         <xacro:inertial_foot></xacro:inertial_foot>
       </link>
-    <!-- *********** BR FOOT ********** -->
     <link name="BR_foot">
         <visual>
           <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -388,7 +348,6 @@
         </collision>
         <xacro:inertial_foot></xacro:inertial_foot>
       </link>
-    <!-- *********** BL FOOT ********** -->
     <link name="BL_foot">
         <visual>
           <origin rpy="0 0 0" xyz="0.0 0 0"/>