PR2/pr2_common — pull request #218 by danepowell (2013-07-24 17:43:17+00:00)
Title: Removed unused canonicalBody tag.

I believe the canonicalBody tag is no longer used by Gazebo. It produces the warning

Warning [parser_urdf.cc:481] do nothing with canonicalBody

(reference gazebo [model tutorial](http://gazebosim.org/wiki/Build_model), [sdf specification](http://gazebosim.org/sdf/1.0.html))