<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:macro name="rasmt_single_gazebo" params="prefix sim">

        <!-- ros_control-plugin -->
        <!-- <xacro:if value="${sim == 'gazebo'}">
            <gazebo>
                <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
                    <parameters>$(find rasmt_support)/config/rasmt_position_velocity_controllers.yaml</parameters>
                    <robotNamespace>/${prefix}</robotNamespace>
                </plugin>
            </gazebo>      
        </xacro:if> -->

        <xacro:if value="${sim == 'ignition'}">
            <gazebo reference="world"/>
            <gazebo>
                <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
                    <parameters>$(find rasmt_support)/config/rasmt_effort_controllers.yaml</parameters>
                    <!--controller_manager_node_name>controller_manager</controller_manager_node_name-->
                </plugin>
            </gazebo>
        </xacro:if>

    </xacro:macro>
</robot>