From 1ff4e98aafc80258a9e4f1cb8635b7b4d065a8d1 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 3 Dec 2024 15:07:38 -0500
Subject: [PATCH] Rename Gazebo plugins for Jazzy compatibility

---
 .../urdf/arm/kinova_gen3_6dof.urdf.xacro                        | 2 +-
 .../urdf/arm/kinova_gen3_7dof.urdf.xacro                        | 2 +-
 .../urdf/arm/kinova_gen3_lite.urdf.xacro                        | 2 +-
 .../urdf/gripper/kinova_2f_lite.urdf.xacro                      | 2 +-
 .../urdf/gripper/robotiq_2f_140.urdf.xacro                      | 2 +-
 .../urdf/a300/mobility/diff_drive.urdf.xacro                    | 2 +-
 6 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/clearpath_manipulators_description/urdf/arm/kinova_gen3_6dof.urdf.xacro b/clearpath_manipulators_description/urdf/arm/kinova_gen3_6dof.urdf.xacro
index 6c61729..119b583 100644
--- a/clearpath_manipulators_description/urdf/arm/kinova_gen3_6dof.urdf.xacro
+++ b/clearpath_manipulators_description/urdf/arm/kinova_gen3_6dof.urdf.xacro
@@ -366,7 +366,7 @@
             <plugin>gazebo_ros2_control/GazeboSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_ignition}">
-            <plugin>gz_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/GazeboSimSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_isaac}">
             <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
diff --git a/clearpath_manipulators_description/urdf/arm/kinova_gen3_7dof.urdf.xacro b/clearpath_manipulators_description/urdf/arm/kinova_gen3_7dof.urdf.xacro
index 7f2f46b..4aa284a 100644
--- a/clearpath_manipulators_description/urdf/arm/kinova_gen3_7dof.urdf.xacro
+++ b/clearpath_manipulators_description/urdf/arm/kinova_gen3_7dof.urdf.xacro
@@ -480,7 +480,7 @@
             <plugin>gazebo_ros2_control/GazeboSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_ignition}">
-            <plugin>gz_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/GazeboSimSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_isaac}">
             <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
diff --git a/clearpath_manipulators_description/urdf/arm/kinova_gen3_lite.urdf.xacro b/clearpath_manipulators_description/urdf/arm/kinova_gen3_lite.urdf.xacro
index 1ac1d24..f2d2aea 100644
--- a/clearpath_manipulators_description/urdf/arm/kinova_gen3_lite.urdf.xacro
+++ b/clearpath_manipulators_description/urdf/arm/kinova_gen3_lite.urdf.xacro
@@ -251,7 +251,7 @@
             <plugin>gazebo_ros2_control/GazeboSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_ignition}">
-            <plugin>gz_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/GazeboSimSystem</plugin>
           </xacro:if>
           <xacro:if value="${sim_isaac}">
             <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
diff --git a/clearpath_manipulators_description/urdf/gripper/kinova_2f_lite.urdf.xacro b/clearpath_manipulators_description/urdf/gripper/kinova_2f_lite.urdf.xacro
index 5a8ab81..db3cf77 100644
--- a/clearpath_manipulators_description/urdf/gripper/kinova_2f_lite.urdf.xacro
+++ b/clearpath_manipulators_description/urdf/gripper/kinova_2f_lite.urdf.xacro
@@ -203,7 +203,7 @@
               <plugin>gazebo_ros2_control/GazeboSystem</plugin>
             </xacro:if>
               <xacro:if value="${sim_ignition}">
-                  <plugin>gz_ros2_control/IgnitionSystem</plugin>
+                  <plugin>gz_ros2_control/GazeboSimSystem</plugin>
               </xacro:if>
               <xacro:if value="${use_fake_hardware}">
                   <plugin>mock_components/GenericSystem</plugin>
diff --git a/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro b/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro
index 6984ed7..e56b22f 100644
--- a/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro
+++ b/clearpath_manipulators_description/urdf/gripper/robotiq_2f_140.urdf.xacro
@@ -301,7 +301,7 @@
             <param name="joint_states_topic">${isaac_joint_states}</param>
           </xacro:if>
           <xacro:if value="${sim_gazebo}">
-            <plugin>gz_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/GazeboSimSystem</plugin>
           </xacro:if>
           <xacro:if value="${use_fake_hardware}">
             <plugin>mock_components/GenericSystem</plugin>
diff --git a/clearpath_platform_description/urdf/a300/mobility/diff_drive.urdf.xacro b/clearpath_platform_description/urdf/a300/mobility/diff_drive.urdf.xacro
index da603c8..396e5d4 100644
--- a/clearpath_platform_description/urdf/a300/mobility/diff_drive.urdf.xacro
+++ b/clearpath_platform_description/urdf/a300/mobility/diff_drive.urdf.xacro
@@ -73,7 +73,7 @@
       <ros2_control name="a300_hardware" type="system">
         <hardware>
           <xacro:if value="$(arg is_sim)">
-            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+            <plugin>gz_ros2_control/GazeboSimSystem</plugin>
           </xacro:if>
           <xacro:unless value="$(arg is_sim)">
             <plugin>clearpath_hardware_interfaces/LynxHardware</plugin>