From 47240f957cb08252808258934f3c903e2d372663 Mon Sep 17 00:00:00 2001
From: Mingfei <mingfei.sun.hk@gmail.com>
Date: Mon, 12 Mar 2018 17:14:59 +0800
Subject: [PATCH 1/4] Update pepperGazebo.xacro

---
 .../urdf/pepper1.0_generated_urdf/pepperGazebo.xacro   | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro b/pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro
index 8a65396..69169dd 100644
--- a/pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro
+++ b/pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro
@@ -724,6 +724,7 @@
 <gazebo>
   <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
     <alwaysOn>true</alwaysOn>
+    <legacyMode>false</legacyMode>
     <updateRate>100</updateRate>
     <robotNamespace>/</robotNamespace>
     <leftJoint>WheelFL</leftJoint>
@@ -734,7 +735,14 @@
     <commandTopic>cmd_vel</commandTopic>
     <odometryTopic>odom_diffdrive</odometryTopic>
     <odometryFrame>odom</odometryFrame>
-    <robotBaseFrame>base_footprint</robotBaseFrame>
+    <odometrySource>world</odometrySource>
+    <publishTf>1</publishTf>
+    <rosDebugLevel>na</rosDebugLevel>
+    <wheelAcceleration>0</wheelAcceleration>
+    <wheelTorque>5</wheelTorque>
+    <robotBaseFrame>base_link</robotBaseFrame>
+    <publishWheelTF>false</publishWheelTF>
+    <publishWheelJointState>false</publishWheelJointState>
   </plugin>
 </gazebo>
 </robot>

From 6e54bdcae1c5f27000c42cdd2c4ba3d5c67b2f7e Mon Sep 17 00:00:00 2001
From: Mingfei <mingfei.sun.hk@gmail.com>
Date: Tue, 20 Mar 2018 14:29:06 +0800
Subject: [PATCH 2/4] fix the pepper drifting problem

---
 .../urdf/pepper1.0_generated_urdf/pepper_torso.xacro       | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro b/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro
index aeec177..0569a67 100644
--- a/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro
+++ b/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro
@@ -3,6 +3,13 @@
  ****** File automatically generated by generate_urdf.py script ******
  *********************************************************************-->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+	<link name="world"/>
+	<joint name="fixed" type="fixed">
+		<parent link="world"/>
+		<child link="base_link"/>
+		<origin rpy="0 0 0" xyz="0 0 0.03"/>
+	</joint>
+	
 	<link name="base_link"/>
 	<joint name="base_link_fixedjoint" type="fixed">
 		<parent link="base_link"/>

From 8f50c706c4df975bb99f189004068c84e9991c4f Mon Sep 17 00:00:00 2001
From: dcam0050 <daniel.james.camilleri.13@gmail.com>
Date: Sat, 19 May 2018 18:06:31 +0000
Subject: [PATCH 3/4] Removed link to world

---
 .../urdf/pepper1.0_generated_urdf/pepper_torso.xacro     | 9 +--------
 1 file changed, 1 insertion(+), 8 deletions(-)

diff --git a/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro b/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro
index 0569a67..0841aa4 100644
--- a/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro
+++ b/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro
@@ -2,14 +2,7 @@
 <!--******************************************************************
  ****** File automatically generated by generate_urdf.py script ******
  *********************************************************************-->
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-	<link name="world"/>
-	<joint name="fixed" type="fixed">
-		<parent link="world"/>
-		<child link="base_link"/>
-		<origin rpy="0 0 0" xyz="0 0 0.03"/>
-	</joint>
-	
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">	
 	<link name="base_link"/>
 	<joint name="base_link_fixedjoint" type="fixed">
 		<parent link="base_link"/>

From 7a0def725119ef16205b357381fe2dd04b2acba8 Mon Sep 17 00:00:00 2001
From: dcam0050 <daniel.james.camilleri.13@gmail.com>
Date: Sat, 19 May 2018 20:32:11 +0000
Subject: [PATCH 4/4] Fixed warnings while launching pepper gazebo

---
 .../pepperTransmission.xacro                  | 48 +++++++++----------
 .../pepper_torso.xacro                        |  2 +
 2 files changed, 26 insertions(+), 24 deletions(-)

diff --git a/pepper_description/urdf/pepper1.0_generated_urdf/pepperTransmission.xacro b/pepper_description/urdf/pepper1.0_generated_urdf/pepperTransmission.xacro
index da5eff8..546075c 100644
--- a/pepper_description/urdf/pepper1.0_generated_urdf/pepperTransmission.xacro
+++ b/pepper_description/urdf/pepper1.0_generated_urdf/pepperTransmission.xacro
@@ -14,22 +14,22 @@
 	<transmission name="HeadYaw_Transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="HeadYaw">
-        	<hardwareInterface>PositionJointInterface</hardwareInterface>
+        	<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 		</joint>
         <actuator name="HeadYaw_Motor">
 			<!-- Dummy Values -->
-			<hardwareInterface>PositionJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 			<mechanicalReduction>${speed_red_type1A}</mechanicalReduction>
 		</actuator>
 	</transmission>
 	<transmission name="HeadPitch_Transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="HeadPitch">
-            <hardwareInterface>PositionJointInterface</hardwareInterface>
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
         </joint>
 		<actuator name="HeadPitch_Motor">
 			<!-- Dummy Values -->
-			<hardwareInterface>PositionJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 			<mechanicalReduction>${speed_red_type2A}</mechanicalReduction>
 		</actuator>
 	</transmission>
@@ -39,40 +39,40 @@
 		<transmission name="${side}ShoulderPitch_Transmission">
 			<type>transmission_interface/SimpleTransmission</type>
 			<joint name="${side}ShoulderPitch">
-              <hardwareInterface>PositionJointInterface</hardwareInterface>
+              <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
 			<actuator name="${side}ShoulderPitch_Motor">
-				<hardwareInterface>PositionJointInterface</hardwareInterface>
+				<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 				<mechanicalReduction>${speed_red_type1A}</mechanicalReduction>
 			</actuator>
 		</transmission>
 		<transmission name="${side}ShoulderRoll_Transmission">
 			<type>transmission_interface/SimpleTransmission</type>
 			<joint name="${side}ShoulderRoll">
-     			<hardwareInterface>PositionJointInterface</hardwareInterface>
+     			<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
 			<actuator name="${side}ShoulderRoll_Motor">
-				<hardwareInterface>PositionJointInterface</hardwareInterface>
+				<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 				<mechanicalReduction>${speed_red_type2A}</mechanicalReduction>
 			</actuator>
 		</transmission>
 		<transmission name="${side}ElbowYaw_Transmission">
 			<type>transmission_interface/SimpleTransmission</type>
 			<joint name="${side}ElbowYaw">
-              <hardwareInterface>PositionJointInterface</hardwareInterface>
+              <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
 			<actuator name="${side}ElbowYaw_Motor">
-				<hardwareInterface>PositionJointInterface</hardwareInterface>
+				<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 				<mechanicalReduction>${speed_red_type1A}</mechanicalReduction>
 			</actuator>
 		</transmission>
 	    <transmission name="${side}ElbowRoll_Transmission">
 			<type>transmission_interface/SimpleTransmission</type>
 			<joint name="${side}ElbowRoll">
-    			<hardwareInterface>PositionJointInterface</hardwareInterface>
+    			<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
 			<actuator name="${side}ElbowRoll_Motor">
-				<hardwareInterface>PositionJointInterface</hardwareInterface>
+				<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 				<mechanicalReduction>${speed_red_type2A}</mechanicalReduction>
 			</actuator>
 		</transmission>
@@ -80,20 +80,20 @@
 		<transmission name="${side}WristYaw_Transmission">
 			<type>transmission_interface/SimpleTransmission</type>
 			<joint name="${side}WristYaw">
-              <hardwareInterface>PositionJointInterface</hardwareInterface>
+              <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
 			<actuator name="${side}WristYaw_Motor">
-				<hardwareInterface>PositionJointInterface</hardwareInterface>
+				<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 				<mechanicalReduction>${speed_red_type2A}</mechanicalReduction>
 			</actuator>
 		</transmission>
 		<transmission name="${side}Hand_Transmission">
 			<type>transmission_interface/SimpleTransmission</type>
 			<joint name="${side}Hand">
-  			  <hardwareInterface>PositionJointInterface</hardwareInterface>
+  			  <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
             </joint>
 			<actuator name="${side}Hand_Motor">
-				<hardwareInterface>PositionJointInterface</hardwareInterface>
+				<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 				<mechanicalReduction>${speed_red_type3B}</mechanicalReduction>
 			</actuator>
 		</transmission>
@@ -105,33 +105,33 @@
 	<transmission name="HipRoll_Transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="HipRoll">
-		  <hardwareInterface>PositionJointInterface</hardwareInterface>
+		  <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
            </joint>
 		<actuator name="HipRoll_Motor">
 			<!-- Dummy Values -->
-			<hardwareInterface>PositionJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 			<mechanicalReduction>${speed_red_type4A}</mechanicalReduction>
 		</actuator>
 	</transmission>
 	<transmission name="HipPitch_Transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="HipPitch">
-		  <hardwareInterface>PositionJointInterface</hardwareInterface>
+		  <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
            </joint>
 		<actuator name="HipPitch_Motor">
 			<!-- Dummy Values -->
-			<hardwareInterface>PositionJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 			<mechanicalReduction>${speed_red_type5A}</mechanicalReduction>
 		</actuator>
 	</transmission>
 	<transmission name="KneePitch_Transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="KneePitch">
-       		<hardwareInterface>PositionJointInterface</hardwareInterface>
+       		<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
            </joint>
                 <actuator name="KneePitch_Motor">
                         <!-- Dummy Values -->
-                        <hardwareInterface>PositionJointInterface</hardwareInterface>
+                        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                         <mechanicalReduction>${speed_red_type5A}</mechanicalReduction>
                 </actuator>
         </transmission>
@@ -141,11 +141,11 @@
                 <transmission name="Wheel${side}_Transmission">
                         <type>transmission_interface/SimpleTransmission</type>
                         <joint name="Wheel${side}">
-                                <hardwareInterface>EffortJointInterface</hardwareInterface>
+                                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
                         </joint>
                         <actuator name="Wheel${side}_Motor">
                                 <!-- Dummy Values -->
-                                <hardwareInterface>EffortJointInterface</hardwareInterface>
+                                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
                                 <mechanicalReduction>${speed_red_type5B}</mechanicalReduction>
                         </actuator>
                 </transmission>
diff --git a/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro b/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro
index 0841aa4..ad9213d 100644
--- a/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro
+++ b/pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro
@@ -3,6 +3,8 @@
  ****** File automatically generated by generate_urdf.py script ******
  *********************************************************************-->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">	
+	
+
 	<link name="base_link"/>
 	<joint name="base_link_fixedjoint" type="fixed">
 		<parent link="base_link"/>