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Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Jul 18, 2020 · 781d8b1 · 781d8b1
2 parents 8f0187d + 6671ee6
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diff --git a/Changelog.md b/Changelog.md
@@ -80,6 +80,22 @@
 
 ## Ignition Gazebo 2.x
 
+### Ignition Gazebo 2.21.0 (2020-07-16)
+
+1. Added support for controlling which joints are published by the
+   JointStatePublisher.
+    * [Pull Request 222](https://github.com/ignitionrobotics/ign-gazebo/pull/222)
+
+1. Added an additional pose offset for the performer detector plugin.
+    * [Pull Request 236](https://github.com/ignitionrobotics/ign-gazebo/pull/236)
+
+1. Fixed battery issues and updated tutorial.
+    * [Pull Request 230](https://github.com/ignitionrobotics/ign-gazebo/pull/230)
+
+### Ignition Gazebo 2.20.1 (2020-06-18)
+
+1. Properly add new models into the scenegraph. With this fix, when a model is spawned it will be added into the graph and resulting calls to the `scene/info` service will return a correct `msgs::Scene`.
+    * [Pull Request 212](https://github.com/ignitionrobotics/ign-gazebo/pull/212)
 
 ### Ignition Gazebo 2.20.0 (2020-06-09)
 

diff --git a/examples/worlds/breadcrumbs.sdf b/examples/worlds/breadcrumbs.sdf
@@ -472,7 +472,7 @@
               <pose>-2 0 0 0 0 0</pose>
               <include>
                 <uri>
-                  https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 Config 1
+                  https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/X2 Config 1
                 </uri>
               </include>
             </model>

diff --git a/examples/worlds/camera_sensor.sdf b/examples/worlds/camera_sensor.sdf
@@ -258,7 +258,7 @@
     <include>
       <pose>0 1 3 0.0 0.0 1.57</pose>
       <uri>
-      https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Construction Cone
+      https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone
       </uri>
     </include>
 

diff --git a/examples/worlds/depth_camera_sensor.sdf b/examples/worlds/depth_camera_sensor.sdf
@@ -227,7 +227,7 @@
     <include>
       <pose>0 1 3 0.0 0.0 1.57</pose>
       <uri>
-      https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Construction Barrel
+      https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Barrel
       </uri>
     </include>
 

diff --git a/examples/worlds/fuel.sdf b/examples/worlds/fuel.sdf
@@ -123,24 +123,24 @@
     <!-- Included model without meshes -->
     <include>
       <pose>-3 0 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/nate/models/double_pendulum_with_base/2</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Double pendulum with base</uri>
     </include>
 
     <!-- Included model with meshes -->
     <include>
       <pose>3 -1 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/nate/models/my_Backpack</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack</uri>
     </include>
 
     <!-- Included model with meshes using relative paths -->
     <include>
       <pose>2 5 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Gazebo - relative paths</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gazebo - relative paths</uri>
     </include>
 
     <!-- Included actor with meshes using relative paths -->
     <include>
-      <uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/actor - relative paths</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/actor - relative paths</uri>
     </include>
 
     <!-- Model with meshes -->
@@ -151,14 +151,14 @@
         <collision name="collision">
           <geometry>
             <mesh>
-              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Radio/4/files/meshes/Radio.dae</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae</uri>
             </mesh>
           </geometry>
         </collision>
         <visual name="visual">
           <geometry>
             <mesh>
-              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Radio/4/files/meshes/Radio.dae</uri>
+              <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae</uri>
             </mesh>
           </geometry>
         </visual>

diff --git a/examples/worlds/fuel_textured_mesh.sdf b/examples/worlds/fuel_textured_mesh.sdf
@@ -169,7 +169,7 @@
       <static>true</static>
       <name>Rescue Randy</name>
       <pose>0 0 0 0 0 1.57</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Rescue Randy</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy</uri>
     </include>
 
     <!-- Tube Light -->

diff --git a/examples/worlds/gpu_lidar_sensor.sdf b/examples/worlds/gpu_lidar_sensor.sdf
@@ -235,7 +235,7 @@
     <include>
       <pose>0 0 0 0 0 1.57</pose>
       <uri>
-      https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Playground
+      https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Playground
       </uri>
     </include>
 

diff --git a/examples/worlds/joint_controller.sdf b/examples/worlds/joint_controller.sdf
@@ -2,11 +2,17 @@
 <!--
   Ignition Gazebo joint controller plugin demo
 
-  Try sending joint velocity commands:
+  Try sending joint velocity commands (velocity mode):
 
     ign topic -t "/model/joint_controller_demo/joint/j1/cmd_vel" -m ignition.msgs.Double -p "data: -1.0"
 
     ign topic -t "/model/joint_controller_demo/joint/j1/cmd_vel" -m ignition.msgs.Double -p "data: 10.0"
+
+  Try sending joint velocity commands (force mode):
+
+    ign topic -t "/model/joint_controller_demo_2/joint/j1/cmd_vel" -m ignition.msgs.Double -p "data: -1.0"
+
+    ign topic -t "/model/joint_controller_demo_2/joint/j1/cmd_vel" -m ignition.msgs.Double -p "data: 10.0"
 -->
 <sdf version="1.6">
   <world name="default">
@@ -152,10 +158,100 @@
           <xyz>0 0 1</xyz>
         </axis>
       </joint>
+      <!-- Velocity mode -->
+      <plugin
+        filename="libignition-gazebo-joint-controller-system.so"
+        name="ignition::gazebo::systems::JointController">
+        <joint_name>j1</joint_name>
+      </plugin>
+    </model>
+
+    <model name="joint_controller_demo_2">
+      <pose>0 0.5 0 0 1.57 0</pose>
+      <link name="base_link">
+        <pose>0.0 0.0 0.0 0 0 0</pose>
+        <inertial>
+          <inertia>
+            <ixx>2.501</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2.501</iyy>
+            <iyz>0</iyz>
+            <izz>5</izz>
+          </inertia>
+          <mass>120.0</mass>
+        </inertial>
+        <visual name="base_visual">
+          <pose>0.0 0.0 0.0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.5 0.5 0.01</size>
+            </box>
+          </geometry>
+        </visual>
+        <collision name="base_collision">
+          <pose>0.0 0.0 0.0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.5 0.5 0.01</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+      <link name="rotor2">
+        <pose>0.0 0.0 0.1 0 0 0</pose>
+        <inertial>
+          <inertia>
+            <ixx>0.032</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.032</iyy>
+            <iyz>0</iyz>
+            <izz>0.00012</izz>
+          </inertia>
+          <mass>0.6</mass>
+        </inertial>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.05</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.2 0.8 0.2 1</ambient>
+          </material>
+        </visual>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.05</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+
+      <joint name="world_fixed" type="fixed">
+        <parent>world</parent>
+        <child>base_link</child>
+      </joint>
+
+      <joint name="j1" type="revolute">
+        <pose>0 0 -0.5 0 0 0</pose>
+        <parent>base_link</parent>
+        <child>rotor2</child>
+        <axis>
+          <xyz>0 0 1</xyz>
+        </axis>
+      </joint>
+
+      <!-- Force mode -->
       <plugin
         filename="libignition-gazebo-joint-controller-system.so"
         name="ignition::gazebo::systems::JointController">
         <joint_name>j1</joint_name>
+        <use_force_commands>true</use_force_commands>
+        <p_gain>0.2</p_gain>
+        <i_gain>0.01</i_gain>
       </plugin>
     </model>
   </world>