little fixes

moria_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
 <name>moria_bringup</name>
-  <version>3.1.0</version>
+  <version>2.0.0</version>
   <description>
 	ROS 2 launch scripts for starting the Moria
   </description>

moria_cartographer/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>moria_cartographer</name>
-    <version>3.1.0</version>
+    <version>2.0.0</version>
     <description>
         ROS2 launch script for moria mapping
     </description>

moria_gazebo/models/btu_real/model.sdf

@@ -1,24 +1,26 @@
 <?xml version='1.0'?>
 <sdf version='1.6'>
   <model name='btu_real'>
-  <static>true</static>
-    <link name='link_0'>
-      <visual name="visual">
-        <pose>-17.0 68.0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://btu_real/meshes/btu_big.stl</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name='collision'>
-        <geometry>
-          <mesh>
-            <uri>model://btu_real/meshes/btu_big.stl</uri>
-            <scale>1 1 1</scale>
-          </mesh>
-        </geometry>
-      </collision>
-    </link>
+    <static>true</static>
+      <link name='link_0'>
+        <visual name="visual">
+          <pose>-17.0 68.0 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://btu_real/meshes/btu_big.stl</uri>
+            </mesh>
+          </geometry>
+        </visual>
+
+		<collision name='collision'>
+	      <pose>-17.0 68.0 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://btu_real/meshes/btu_big.stl</uri>
+              <scale>1 1 1</scale>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
   </model>
 </sdf>