From 9bf8595d47d7ef6eb57d530481540a7970593e5a Mon Sep 17 00:00:00 2001
From: Ugo Pattacini <ugo.pattacini@iit.it>
Date: Thu, 16 Mar 2023 15:41:08 +0100
Subject: [PATCH] Update demoRedBall_gazebo.xml.template

Removed dep from `/icubSim/inertial` for `iKinGazeCtrl` (it doesn't use it in Gazebo).

Tweaked the dep for WBD.
---
 demoRedBall/app/scripts/demoRedBall_gazebo.xml.template | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/demoRedBall/app/scripts/demoRedBall_gazebo.xml.template b/demoRedBall/app/scripts/demoRedBall_gazebo.xml.template
index d371eb0..10d30e2 100644
--- a/demoRedBall/app/scripts/demoRedBall_gazebo.xml.template
+++ b/demoRedBall/app/scripts/demoRedBall_gazebo.xml.template
@@ -17,7 +17,6 @@
                 <dependencies>
                     <port timeout="20">/icubSim/torso/state:o</port>
                     <port timeout="20">/icubSim/head/state:o</port>
-                    <port timeout="20">/icubSim/inertial</port>
                 </dependencies>
                 <ensure>
                    <wait when="stop">5</wait>
@@ -67,7 +66,7 @@
                     <port timeout="20">/icubSim/torso/state:o</port>
                     <port timeout="20">/icubSim/right_arm/state:o</port>
                     <port timeout="20">/icubSim/left_arm/state:o</port>
-                    <port timeout="20">/icubSim/inertial</port>
+                    <port timeout="20">/icubSim/head/inertials/measures:o</port>
                 </dependencies>
                 <node>localhost</node>
         </module>