Merge pull request #129 from robotology/gazebo11

Use SDF 1.7 for all Gazebo models
robotology · Feb 15, 2022 · cf9abf0 · cf9abf0
2 parents 118ca23 + 6d2766f
commit cf9abf0
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -5,6 +5,10 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 
 ## [Unreleased]
 
+### Changed
+
+* All Gazebo models installed by icub-models are in SDF format version 1.7. This means that Gazebo >= 11 is required to load them.
+
 ## [1.22.1] - 2021-12-04
 
 ### Fixed

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -34,13 +34,7 @@ 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()
+set(ICUB_MODELS_SDF_VERSION "1.7")
 
 # 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