Update cloudship.sdf.jinja

Replace GPS joint with statement including GPS joint defined in other GPS model folder. This is adapted from the method that other Gazebo SITL models include the GPS such as the plane. The base_link term is replaced by hull to attach the GPS to the hull.

models/cloudship/cloudship.sdf.jinja

@@ -383,54 +383,16 @@
         </geometry>
       </collision>
     </link>
-
-    <model name='gps0'>
-      <link name='link'>
-        <pose frame=''>0 0 0 0 0 0</pose>
-        <inertial>
-          <pose frame=''>0 0 0 0 0 0</pose>
-          <mass>0.01</mass>
-          <inertia>
-            <ixx>2.1733e-06</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>2.1733e-06</iyy>
-            <iyz>0</iyz>
-            <izz>1.8e-07</izz>
-          </inertia>
-        </inertial>
-        <visual name='visual'>
-          <geometry>
-            <cylinder>
-              <radius>0.01</radius>
-              <length>0.002</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <script>
-              <name>Gazebo/Black</name>
-              <uri>__default__</uri>
-            </script>
-          </material>
-        </visual>
-        <sensor name='gps' type='gps'>
-          <pose frame=''>0 0 0 0 0 0</pose>
-          <plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
-            <robotNamespace/>
-            <gpsNoise>1</gpsNoise>
-            <gpsXYRandomWalk>2.0</gpsXYRandomWalk>
-            <gpsZRandomWalk>4.0</gpsZRandomWalk>
-            <gpsXYNoiseDensity>0.0002</gpsXYNoiseDensity>
-            <gpsZNoiseDensity>0.0004</gpsZNoiseDensity>
-            <gpsVXYNoiseDensity>0.2</gpsVXYNoiseDensity>
-            <gpsVZNoiseDensity>0.4</gpsVZNoiseDensity>
-          </plugin>
-        </sensor>
-      </link>
-    </model>
-    <joint name='gps0_joint' type='fixed'>
+
+    {# GPS joint which includes GPS plugin #}
+    <include>
+      <uri>model://gps</uri>
+      <pose>0 0 0 0 0 0</pose>
+      <name>gps</name>
+    </include>
+    <joint name='gps_joint' type='fixed'>
+      <child>gps::link</child>
       <parent>hull</parent>
-      <child>gps0::link</child>
     </joint>
 
     {# Thrusters Rod #}