From 4e6fb9403e7d308a83f01d1c5dfc55174d891f77 Mon Sep 17 00:00:00 2001
From: chama1176 <yakushigawa@rt-net.jp>
Date: Wed, 10 Jul 2024 11:49:55 +0900
Subject: [PATCH] =?UTF-8?q?=E3=82=BB=E3=83=B3=E3=82=B5=E5=91=A8=E3=82=8A?=
 =?UTF-8?q?=E3=81=AEgz=E7=A7=BB=E8=A1=8C=E3=82=82=E3=82=8C?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 urdf/sciurus17_gazebo.xacro | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro
index c56de4a..ff143f9 100644
--- a/urdf/sciurus17_gazebo.xacro
+++ b/urdf/sciurus17_gazebo.xacro
@@ -53,7 +53,7 @@
     </gazebo>
 
     <gazebo>
-      <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
+      <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
         <render_engine>ogre2</render_engine>
       </plugin>
     </gazebo>
@@ -64,7 +64,7 @@
           <update_rate>10</update_rate>
           <always_on>true</always_on>
           <topic>${NAME_HEAD_CAMERA_PREFIX}</topic>
-          <ignition_frame_id>${NAME_HEAD_CAMERA_PREFIX}_color_frame</ignition_frame_id>
+          <gz_frame_id>${NAME_HEAD_CAMERA_PREFIX}_color_frame</gz_frame_id>
           <camera name="realsense_d415">
             <xacro:property name="head_camera_width" value="640"/>
             <xacro:property name="head_camera_height" value="360"/>
@@ -115,7 +115,7 @@
           <update_rate>10</update_rate>
           <always_on>true</always_on>
           <topic>${NAME_CHEST_CAMERA_PREFIX}/image_raw</topic>
-          <ignition_frame_id>${NAME_LINK_CHEST_CAMERA}</ignition_frame_id>
+          <gz_frame_id>${NAME_LINK_CHEST_CAMERA}</gz_frame_id>
           <camera name="${NAME_CHEST_CAMERA_PREFIX}">
             <xacro:property name="chest_camera_width" value="640"/>
             <xacro:property name="chest_camera_height" value="360"/>