From 4f8bfed6ff098a04c19443eeef3568a10819a2c5 Mon Sep 17 00:00:00 2001
From: HovorunB <bohdan.hovorun@logivations.com>
Date: Tue, 23 Jan 2024 16:35:33 +0100
Subject: [PATCH] Revert "Load the URDF to the resource_manager before parsing
 it to CM  (#262) (#267)"

This reverts commit 1ce397ca32711e679534b44fa2c30a434e9cdebd.
---
 gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
index 0a23ea8a..b0a8bb07 100644
--- a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
+++ b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@@ -275,13 +275,6 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
   std::unique_ptr<hardware_interface::ResourceManager> resource_manager_ =
     std::make_unique<hardware_interface::ResourceManager>();
 
-  try {
-    resource_manager_->load_urdf(urdf_string, false, false);
-  } catch (...) {
-    // This error should be normal as the resource manager is not supposed to load and initialize
-    // them
-    RCLCPP_ERROR(impl_->model_nh_->get_logger(), "Error initializing URDF to resource manager!");
-  }
   try {
     impl_->robot_hw_sim_loader_.reset(
       new pluginlib::ClassLoader<gazebo_ros2_control::GazeboSystemInterface>(