Merge branch 'master' into sea

Author: roncapat

gazebo_ros2_control/CMakeLists.txt

@@ -41,10 +41,6 @@ ament_target_dependencies(${PROJECT_NAME}
   yaml_cpp_vendor
 )
 
-if("$ENV{ROS_DISTRO}" STREQUAL "rolling")
-  add_definitions(-DROLLING)
-endif()
-
 add_library(gazebo_hardware_plugins SHARED
   src/gazebo_system.cpp
 )

gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp

@@ -297,11 +297,7 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
   }
 
   for (unsigned int i = 0; i < control_hardware_info.size(); i++) {
-#ifndef ROLLING
-    std::string robot_hw_sim_type_str_ = control_hardware_info[i].hardware_class_type;
-#else
     std::string robot_hw_sim_type_str_ = control_hardware_info[i].hardware_plugin_name;
-#endif
     auto gazeboSystem = std::unique_ptr<gazebo_ros2_control::GazeboSystemInterface>(
       impl_->robot_hw_sim_loader_->createUnmanagedInstance(robot_hw_sim_type_str_));