minor modification

src/CMakeLists.txt

@@ -0,0 +1,64 @@
+# toplevel CMakeLists.txt for a catkin workspace
+# catkin/cmake/toplevel.cmake
+
+cmake_minimum_required(VERSION 2.8.3)
+project("single_nubot_gazebo")
+
+set(CATKIN_TOPLEVEL TRUE)
+
+# search for catkin within the workspace
+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
+execute_process(COMMAND ${_cmd}
+  RESULT_VARIABLE _res
+  OUTPUT_VARIABLE _out
+  ERROR_VARIABLE _err
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
+  # searching fot catkin resulted in an error
+  string(REPLACE ";" " " _cmd_str "${_cmd}")
+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
+endif()
+
+# include catkin from workspace or via find_package()
+if(_res EQUAL 0)
+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
+  # include all.cmake without add_subdirectory to let it operate in same scope
+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
+  add_subdirectory("${_out}")
+
+else()
+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
+  # or CMAKE_PREFIX_PATH from the environment
+  if(NOT DEFINED CMAKE_PREFIX_PATH)
+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
+      string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+    endif()
+  endif()
+
+  # list of catkin workspaces
+  set(catkin_search_path "")
+  foreach(path ${CMAKE_PREFIX_PATH})
+    if(EXISTS "${path}/.catkin")
+      list(FIND catkin_search_path ${path} _index)
+      if(_index EQUAL -1)
+        list(APPEND catkin_search_path ${path})
+      endif()
+    endif()
+  endforeach()
+
+  # search for catkin in all workspaces
+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
+  find_package(catkin QUIET
+    NO_POLICY_SCOPE
+    PATHS ${catkin_search_path}
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
+
+  if(NOT catkin_FOUND)
+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
+  endif()
+endif()
+
+catkin_workspace()

src/nubot_simulation/nubot_description/package.xml

@@ -18,5 +18,6 @@
   <export>      
 		 <gazebo_ros gazebo_model_path="${prefix}/models/" />
 		 <gazebo_ros gazebo_media_path="${prefix}" />
+		 <!--gazebo_ros plugin_path="${prefix}/../../../" /-->
   </export>
 </package>

src/nubot_simulation/nubot_gazebo/plugins/nubot_gazebo.cc

@@ -183,8 +183,8 @@ void NubotGazebo::UpdateChild()
     {                               // so after receiving model_states message, then nubot moves.
        /********** EDIT BEGINS **********/
 
-        nubot_be_control();
-        // nubot_auto_control();
+        // nubot_be_control();
+        nubot_auto_control();
 
        /**********  EDIT ENDS  **********/
     }