Add example

Signed-off-by: Louise Poubel <[email protected]>

examples/worlds/multicopter_velocity_control.sdf

@@ -12,6 +12,10 @@ You can use the velocity controller and command linear velocity and yaw angular
 
     ign topic -t "/X3/gazebo/command/twist" -m ignition.msgs.Twist -p " "
 
+  Listen to odometry:
+
+    ign topic -e -t "/model/x3/odometry"
+
 
   Send commands to the hexacopter to go straight up:
 
@@ -20,6 +24,11 @@ You can use the velocity controller and command linear velocity and yaw angular
   To hover
 
     ign topic -t "/X4/gazebo/command/twist" -m ignition.msgs.Twist -p " "
+
+  Listen to odometry:
+
+    ign topic -e -t "/model/X4/odometry"
+
 -->
 
 <sdf version="1.6">
@@ -210,6 +219,11 @@ You can use the velocity controller and command linear velocity and yaw angular
           </rotor>
         </rotorConfiguration>
       </plugin>
+      <plugin
+        filename="ignition-gazebo-odometry-publisher-system"
+        name="ignition::gazebo::systems::OdometryPublisher">
+        <dimensions>3</dimensions>
+      </plugin>
     </include>
     <include>
       <pose>0 3 1 0 0 0</pose>
@@ -400,6 +414,11 @@ You can use the velocity controller and command linear velocity and yaw angular
           </rotor>
         </rotorConfiguration>
       </plugin>
+      <plugin
+        filename="ignition-gazebo-odometry-publisher-system"
+        name="ignition::gazebo::systems::OdometryPublisher">
+        <dimensions>3</dimensions>
+      </plugin>
     </include>
   </world>
 </sdf>

test/integration/odometry_publisher.cc

@@ -417,7 +417,7 @@ TEST_P(OdometryPublisherTest, Movement3d)
 {
   TestMovement3d(
       ignition::common::joinPaths(PROJECT_SOURCE_PATH,
-      "/test/worlds/odometry_publisher_3d.sdf"),
+      "test", "worlds", "odometry_publisher_3d.sdf"),
       "/model/X3/odometry");
 }