From fca28810a80a0f0c48feff253a523796d3b24512 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 6 Aug 2024 11:33:57 -0400
Subject: [PATCH] Remove the base_footprint visualization

---
 .../urdf/lite/turtlebot4.urdf.xacro                   | 11 +----------
 .../urdf/standard/turtlebot4.urdf.xacro               | 11 +----------
 2 files changed, 2 insertions(+), 20 deletions(-)

diff --git a/turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro b/turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro
index 481be0a..d07072f 100644
--- a/turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro
+++ b/turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro
@@ -35,16 +35,7 @@
   </xacro:oakd>
 
   <!-- Base footprint for navigation -->
-  <link name="base_footprint">
-    <visual>
-      <geometry>
-        <cylinder length="0.001" radius="${0.335/2}"/>
-      </geometry>
-      <material name="dark_grey">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-  </link>
+  <link name="base_footprint" />
   <joint name="base_footprint_joint" type="fixed">
     <!-- Create3's base_link is already on the ground -->
     <origin xyz="0 0 0" rpy="0 0 0" />
diff --git a/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro b/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro
index c63d35c..a06f42f 100644
--- a/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro
+++ b/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro
@@ -125,16 +125,7 @@
   </xacro:oakd>
 
   <!-- Base footprint for navigation -->
-  <link name="base_footprint">
-    <visual>
-      <geometry>
-        <cylinder length="0.001" radius="${0.335/2}"/>
-      </geometry>
-      <material name="dark_grey">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-  </link>
+  <link name="base_footprint" />
   <joint name="base_footprint_joint" type="fixed">
     <!-- Create3's base_link is already on the ground -->
     <origin xyz="0 0 0" rpy="0 0 0" />