From 042f3577733a3d01a03bc22883ece12965277dfc Mon Sep 17 00:00:00 2001
From: Emiliano Borghi <emiliano.borghi@gmail.com>
Date: Sun, 10 Mar 2019 15:51:52 -0300
Subject: [PATCH] Fix diff drive plugin because of deprecation of legacyMode
 (#17)

---
 ca_description/urdf/create_base_gazebo.urdf.xacro | 2 +-
 ca_description/urdf/create_wheel.xacro            | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ca_description/urdf/create_base_gazebo.urdf.xacro b/ca_description/urdf/create_base_gazebo.urdf.xacro
index 3de5a77a3..b49fb43c5 100644
--- a/ca_description/urdf/create_base_gazebo.urdf.xacro
+++ b/ca_description/urdf/create_base_gazebo.urdf.xacro
@@ -20,7 +20,7 @@
         <publishWheelTF>true</publishWheelTF>
         <publishOdomTF>true</publishOdomTF>
         <publishWheelJointState>true</publishWheelJointState>
-        <legacyMode>true</legacyMode>
+        <legacyMode>false</legacyMode>
         <odometrySource>world</odometrySource>
         <publishTf>1</publishTf>
       </plugin>
diff --git a/ca_description/urdf/create_wheel.xacro b/ca_description/urdf/create_wheel.xacro
index 38de1fa74..22dd7a55f 100644
--- a/ca_description/urdf/create_wheel.xacro
+++ b/ca_description/urdf/create_wheel.xacro
@@ -34,7 +34,7 @@
     <origin xyz="${x} ${y} ${z}" rpy="0 0 0" />
     <parent link="base_link" />
     <child link="${prefix}_wheel_link" />
-    <axis xyz="0 1 0" />
+    <axis xyz="0 -1 0" />
   </joint>
 </xacro:macro>