From 0e650652a48a8a68f08061c2412f034bf18a3a93 Mon Sep 17 00:00:00 2001
From: May <mehrabhoque@gmail.com>
Date: Sat, 27 Jun 2015 10:11:40 -0400
Subject: [PATCH] Fix empty_world.launch requesting bad node for ROS Indigo

---
 cvg_sim_gazebo/launch/empty_world.launch | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/cvg_sim_gazebo/launch/empty_world.launch b/cvg_sim_gazebo/launch/empty_world.launch
index 95cc036..87da186 100644
--- a/cvg_sim_gazebo/launch/empty_world.launch
+++ b/cvg_sim_gazebo/launch/empty_world.launch
@@ -1,8 +1,12 @@
+<?xml version="1.0"?>
 <launch>
-  <param name="/use_sim_time" value="true" />
-  <node name="empty_world_server" pkg="gazebo" type="gazebo" args="$(find cvg_sim_gazebo)/worlds/empty.world" respawn="false" output="screen">
+  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+  </include>
 
-  </node>
-  <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/>
-</launch>
 
+  <!-- Spawn simulated quadrotor uav -->
+  <include file="$(find cvg_sim_gazebo)/launch/spawn_quadrotor.launch" >
+    <arg name="model" value="$(find cvg_sim_gazebo)/urdf/quadrotor_sensors.urdf.xacro"/> 
+  </include>
+</launch>
\ No newline at end of file