Melodic->Noetic(xacro)

Pet-Series · Jul 2, 2023 · 602ceab · 602ceab
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diff --git a/README.md b/README.md
@@ -51,6 +51,8 @@ Set up for simuation in Gazebo
   ~/ros_ws$ catkin_make  (vs. $ catkin build  ??)
   ~/ros_ws$
   ```
+  Note: 'catkin_make' - Alternative instead of 'catkin build'
+  Note: 'catkin build' - A more flexible way of buildning ROS1/Noetic packages
 
 # Examples
 ## **Spawn Gazebo worlds** (Play yard #1)

diff --git a/launch/spawn_pet_mk_iv.launch b/launch/spawn_pet_mk_iv.launch
@@ -12,7 +12,6 @@
     $ roslaunch pet_mk_iv_simulation spawn_pet_mk_iv.launch
   ____________________________________________________________________________
   \TODO "[ WARN] [1625328237.452135370] [/robot_state_publisher]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
-  \TODO "xacro.py is deprecated; please use xacro instead"
   
   \reference  http://gazebosim.org/tutorials?tut=ros_roslaunch
 -->
@@ -35,7 +34,7 @@
     URDF xml robot description loaded into the ROS Parameter Server, converting the xacro into a proper urdf file
   -->
   <param name="robot_description" 
-         command="$(find xacro)/xacro.py '$(find pet_mk_iv_description)/urdf/pet_mk_iv.urdf.xacro'"/> 
+         command="xacro '$(find pet_mk_iv_description)/urdf/pet_mk_iv.urdf.xacro'"/> 
 
   <!-- load the controllers -->
   <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->