エラー回避用のdummyジョイントの定義を削除

Author: YusukeKato

urdf/sciurus17_left_gripper.xacro

@@ -59,15 +59,6 @@
       </inertial>
     </link>
 
-    <!--Dummy joint/link to prevent error with mimic joint
-    See https://github.com/ros-controls/gazebo_ros2_control/issues/173
-    -->
-    <joint name="${NAME_JOINT_GRIPPER_L_B}_mimic" type="fixed">
-      <parent link="world" />
-      <child link="dummy_mimic_fix_l" />
-    </joint>
-    <link name="dummy_mimic_fix_l"/>
-
     <joint name="${NAME_JOINT_GRIPPER_L_B}" type="revolute">
       <parent link="${NAME_LINK_ARM_L_7}" />
       <child link="${NAME_LINK_GRIPPER_L_B}" />

urdf/sciurus17_right_gripper.xacro

@@ -60,15 +60,6 @@
       </inertial>
     </link>
 
-    <!--Dummy joint/link to prevent error with mimic joint
-    See https://github.com/ros-controls/gazebo_ros2_control/issues/173
-    -->
-    <joint name="${NAME_JOINT_GRIPPER_R_B}_mimic" type="fixed">
-      <parent link="world" />
-      <child link="dummy_mimic_fix_r" />
-    </joint>
-    <link name="dummy_mimic_fix_r"/>
-
     <joint name="${NAME_JOINT_GRIPPER_R_B}" type="revolute">
       <parent link="${NAME_LINK_ARM_R_7}" />
       <child link="${NAME_LINK_GRIPPER_R_B}" />