diff --git a/pal-hardware-gazebo/Makefile b/pal-hardware-gazebo/Makefile
index 22a0fadaf4ce72755480cba7755f5394fc328e6b..1279145640dd60c33ed0e9ade9da334317102cd0 100644
--- a/pal-hardware-gazebo/Makefile
+++ b/pal-hardware-gazebo/Makefile
@@ -2,14 +2,13 @@
# Created: Olivier Stasse on Thu, 3 May 2017
#
-VERSION= 0.1.1
+VERSION= 0.1.2
PKGBASE= pal-hardware-gazebo
PKGNAME= ${PKGBASE}-${VERSION}
DISTNAME= ${VERSION}
ROSNAME= $(subst -,_,${PKGBASE})
WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
DIST_SUBDIR= ${PKGBASE}
-PKGREVISION= 2
CATEGORIES= wip
# Source file store in robotpkg website.
diff --git a/pal-hardware-gazebo/distinfo b/pal-hardware-gazebo/distinfo
index ddd65a3b21517887dceb4e8691f03e577ea82656..fda36ce1663431ffaa74a504d59160ab04729af5 100644
--- a/pal-hardware-gazebo/distinfo
+++ b/pal-hardware-gazebo/distinfo
@@ -1,7 +1,3 @@
-SHA1 (pal-hardware-gazebo/0.1.1.tar.gz) = b8471dd74e9ace19db527d16892d7e6939560395
-RMD160 (pal-hardware-gazebo/0.1.1.tar.gz) = 67be99d7bca113c442e464d03ba790b1bbac86de
-Size (pal-hardware-gazebo/0.1.1.tar.gz) = 6702 bytes
-SHA1 (patch-aa) = 55d43f2a4362bfe5f71c5726fb1c126b717d1ad2
-SHA1 (patch-ab) = e6b47d9d96228aebffe3df7f309e06573f1330fd
-SHA1 (patch-ac) = fc01a3b5420ae539afa34989f5a70c784c56bacd
-SHA1 (patch-ad) = 35ddbbde62c3a5025addb36de9f70935088e44d9
+SHA1 (pal-hardware-gazebo/0.1.2.tar.gz) = 7c8ee5cd7f44308b9f39129dfbd49a69c0648bc3
+RMD160 (pal-hardware-gazebo/0.1.2.tar.gz) = 996388938ee5f2af30d139dd9c8348e8d3c2a465
+Size (pal-hardware-gazebo/0.1.2.tar.gz) = 6923 bytes
diff --git a/pal-hardware-gazebo/patches/patch-aa b/pal-hardware-gazebo/patches/patch-aa
deleted file mode 100644
index 4a7663281a6123fabdea2f9b42fbe9ab237902f2..0000000000000000000000000000000000000000
--- a/pal-hardware-gazebo/patches/patch-aa
+++ /dev/null
@@ -1,14 +0,0 @@
---- src/pal_hardware_gazebo.cpp
-+++ src/pal_hardware_gazebo.cpp
-@@ -287,7 +287,7 @@ bool PalHardwareGazebo::parseIMUSensors(ros::NodeHandle& nh, gazebo::physics::Mo
- ImuSensorDefinitionPtr imu(new ImuSensorDefinition(sensor_name, sensor_frame_id));
- imu->gazebo_imu_sensor = imu_sensor;
- imuSensorDefinitions_.push_back(imu);
-- imu_sensor->SetWorldToReferencePose();
-+ imu_sensor->SetWorldToReferenceOrientation(ignition::math::Quaterniond::Identity);
- ROS_INFO_STREAM("Parsed imu sensor: " << sensor_name << " in frame: " << sensor_frame_id);
- }
- return true;
---
-2.7.4
-
diff --git a/pal-hardware-gazebo/patches/patch-ab b/pal-hardware-gazebo/patches/patch-ab
deleted file mode 100644
index 738b3012a3c5aaa09040f1c99760d6a8aa5e49ea..0000000000000000000000000000000000000000
--- a/pal-hardware-gazebo/patches/patch-ab
+++ /dev/null
@@ -1,47 +0,0 @@
---- src/pal_hardware_gazebo.cpp
-+++ src/pal_hardware_gazebo.cpp
-@@ -42,6 +42,7 @@
- #include <pal_hardware_gazebo/pal_hardware_gazebo.h>
-
- #include <dynamic_introspection/dynamic_introspection.h>
-+#include <gazebo/gazebo_config.h>
-
- typedef Eigen::Vector3d eVector3;
- typedef Eigen::Isometry3d eMatrixHom;
-@@ -194,8 +195,8 @@ bool PalHardwareGazebo::parseForceTorqueSensors(ros::NodeHandle& nh,
-
- if (!urdf_sensor_joint)
- {
-- ROS_ERROR_STREAM("Problem finding joint: "
-- << ft->sensorJointName << " to attach FT sensor in robot model");
-+ ROS_ERROR_STREAM("Problem finding joint: " << ft->sensorJointName
-+ << " to attach FT sensor in robot model");
- return false;
- }
-
-@@ -243,8 +244,7 @@ bool PalHardwareGazebo::parseForceTorqueSensors(ros::NodeHandle& nh,
- if (!ft->gazebo_joint)
- {
- ROS_ERROR_STREAM("Could not find joint '"
-- << ft->sensorJointName
-- << "' to which a force-torque sensor is attached.");
-+ << ft->sensorJointName << "' to which a force-torque sensor is attached.");
- return false;
- }
-
-@@ -287,7 +287,12 @@ bool PalHardwareGazebo::parseIMUSensors(ros::NodeHandle& nh, gazebo::physics::Mo
- ImuSensorDefinitionPtr imu(new ImuSensorDefinition(sensor_name, sensor_frame_id));
- imu->gazebo_imu_sensor = imu_sensor;
- imuSensorDefinitions_.push_back(imu);
-+
-+#if GAZEBO_MAJOR_VERSION >= 8
-+#if GAZEBO_MINOR_VERSION >= 11
- imu_sensor->SetWorldToReferenceOrientation(ignition::math::Quaterniond::Identity);
-+#endif
-+#endif
- ROS_INFO_STREAM("Parsed imu sensor: " << sensor_name << " in frame: " << sensor_frame_id);
- }
- return true;
---
-2.7.4
-
diff --git a/pal-hardware-gazebo/patches/patch-ac b/pal-hardware-gazebo/patches/patch-ac
deleted file mode 100644
index c0e56f47fb45c11914d061b3eabac691b1cea1c8..0000000000000000000000000000000000000000
--- a/pal-hardware-gazebo/patches/patch-ac
+++ /dev/null
@@ -1,18 +0,0 @@
---- src/pal_hardware_gazebo.cpp
-+++ src/pal_hardware_gazebo.cpp
-@@ -288,11 +288,9 @@ bool PalHardwareGazebo::parseIMUSensors(ros::NodeHandle& nh, gazebo::physics::Mo
- imu->gazebo_imu_sensor = imu_sensor;
- imuSensorDefinitions_.push_back(imu);
-
--#if GAZEBO_MAJOR_VERSION >= 8
--#if GAZEBO_MINOR_VERSION >= 11
-+#if GAZEBO_MAJOR_VERSION >= 8 || (GAZEBO_MAJOR_VERSION == 7 && GAZEBO_MAJOR_VERSION >= 11)
- imu_sensor->SetWorldToReferenceOrientation(ignition::math::Quaterniond::Identity);
- #endif
--#endif
- ROS_INFO_STREAM("Parsed imu sensor: " << sensor_name << " in frame: " << sensor_frame_id);
- }
- return true;
---
-2.7.4
-
diff --git a/pal-hardware-gazebo/patches/patch-ad b/pal-hardware-gazebo/patches/patch-ad
deleted file mode 100644
index 765aa979a06116da52525fe0291f93baf1b395e6..0000000000000000000000000000000000000000
--- a/pal-hardware-gazebo/patches/patch-ad
+++ /dev/null
@@ -1,14 +0,0 @@
---- src/pal_hardware_gazebo.cpp
-+++ src/pal_hardware_gazebo.cpp
-@@ -288,7 +288,7 @@ bool PalHardwareGazebo::parseIMUSensors(ros::NodeHandle& nh, gazebo::physics::Mo
- imu->gazebo_imu_sensor = imu_sensor;
- imuSensorDefinitions_.push_back(imu);
-
--#if GAZEBO_MAJOR_VERSION >= 8 || (GAZEBO_MAJOR_VERSION == 7 && GAZEBO_MAJOR_VERSION >= 11)
-+#if GAZEBO_MAJOR_VERSION >= 8 || (GAZEBO_MAJOR_VERSION == 7 && GAZEBO_MINOR_VERSION >= 11)
- imu_sensor->SetWorldToReferenceOrientation(ignition::math::Quaterniond::Identity);
- #endif
- ROS_INFO_STREAM("Parsed imu sensor: " << sensor_name << " in frame: " << sensor_frame_id);
---
-2.7.4
-