From d0524915fa590d96743bcad9322f5a15f101a81a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Wed, 13 Sep 2023 20:49:41 +0200
Subject: [PATCH] Fix multi_lrauv_race example (#2111)
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Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 examples/standalone/multi_lrauv_race/multi_lrauv_race.cc | 2 +-
 examples/worlds/multi_lrauv_race.sdf                     | 5 -----
 2 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc b/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc
index 03ec9eee98..be8dd072d0 100644
--- a/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc
+++ b/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc
@@ -74,7 +74,7 @@ int main(int argc, char** argv)
     rudderPubs[i] = node.Advertise<gz::msgs::Double>(rudderTopics[i]);
 
     propellerTopics[i] = gz::transport::TopicUtils::AsValidTopic(
-      "/model/" + ns[i] + "/joint/propeller_joint/cmd_pos");
+      "/model/" + ns[i] + "/joint/propeller_joint/cmd_thrust");
     propellerPubs[i] = node.Advertise<gz::msgs::Double>(
       propellerTopics[i]);
   }
diff --git a/examples/worlds/multi_lrauv_race.sdf b/examples/worlds/multi_lrauv_race.sdf
index f0827cd82c..902d89111a 100644
--- a/examples/worlds/multi_lrauv_race.sdf
+++ b/examples/worlds/multi_lrauv_race.sdf
@@ -57,11 +57,6 @@
       <direction>-0.5 0.1 -0.9</direction>
     </light>
 
-    <include>
-      <pose>-5 0 0 0 0 0</pose>
-      <uri>https://fuel.gazebosim.org/1.0/mabelzhang/models/Turquoise turbidity generator</uri>
-    </include>
-
     <include>
       <pose>0 0 1 0 0 1.57</pose>
       <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>