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4 ➡️ 5 (#1197)
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Signed-off-by: Louise Poubel <[email protected]>
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@chapulina
chapulina authored Nov 13, 2021
2 parents 2278a03 + 8d68855 commit ba53127
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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#--------------------------------------
# Find ignition-physics
ign_find_package(ignition-physics4
ign_find_package(ignition-physics4 VERSION 4.3
COMPONENTS
heightmap
mesh
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34 changes: 34 additions & 0 deletions Changelog.md
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## Ignition Gazebo 3.x

### Ignition Gazebo 3.X.X (20XX-XX-XX)

### Ignition Gazebo 3.12.0 (2021-11-11)

1. Prevent creation of spurious `<plugin>` elements when saving worlds
* [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192)

1. Added support for tracked vehicles
* [Pull request #869](https://github.com/ignitionrobotics/ign-gazebo/pull/869)

1. Add components to dynamically set joint limits
* [Pull request #847](https://github.com/ignitionrobotics/ign-gazebo/pull/847)

1. Fix updating a component's data via SerializedState msg
* [Pull request #1149](https://github.com/ignitionrobotics/ign-gazebo/pull/1149)

1. Sensor systems work if loaded after sensors
* [Pull request #1104](https://github.com/ignitionrobotics/ign-gazebo/pull/1104)

1. Fix generation of systems library symlinks in build directory
* [Pull request #1160](https://github.com/ignitionrobotics/ign-gazebo/pull/1160)

1. Backport gazebo::Util::validTopic() from ign-gazebo4.
* [Pull request #1153](https://github.com/ignitionrobotics/ign-gazebo/pull/1153)

1. Support setting the background color for sensors
* [Pull request #1147](https://github.com/ignitionrobotics/ign-gazebo/pull/1147)

1. Use uint64_t for ComponentInspector Entity IDs
* [Pull request #1144](https://github.com/ignitionrobotics/ign-gazebo/pull/1144)

1. Fix integers and floats on component inspector
* [Pull request #1143](https://github.com/ignitionrobotics/ign-gazebo/pull/1143)

### Ignition Gazebo 3.11.0 (2021-10-21)

1. Updates to camera video record from subt.
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349 changes: 349 additions & 0 deletions examples/worlds/conveyor.sdf
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<?xml version="1.0" ?>
<sdf version="1.7">
<world name="default">
<!--
A demo world for conveyor belt using the TrackController system.
Drive the belt by keyboard using W/S/X or by publishing Double message to
/model/conveyor/link/base_link/track_cmd_vel .
The interesting part with plugin definition starts around line 146.
-->
<physics name="4ms" type="ignored">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="ignition-gazebo-physics-system"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-user-commands-system"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>

<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
</scene>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="conveyor">
<!-- <pose>0 0 0 0 0 -1.0</pose>-->
<static>1</static>
<link name='base_link'>
<pose relative_to='__model__'>0 0 0 0 0 0</pose>
<inertial>
<mass>6.06</mass>
<inertia>
<ixx>0.002731</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.032554</iyy>
<iyz>1.5e-05</iyz>
<izz>0.031391</izz>
</inertia>
</inertial>
<collision name='main_collision'>
<pose relative_to='base_link'>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>5 0.2 0.1</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.7</mu>
<mu2>150</mu2>
<fdir1>0 1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
<collision name='collision_1'>
<pose relative_to='base_link'>2.5 0 0 -1.570796327 0 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.05</radius>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0.7</mu>
<mu2>150</mu2>
<fdir1>0 1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
<collision name='collision_2'>
<pose relative_to='base_link'>-2.5 0 0 -1.570796327 0 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.05</radius>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0.7</mu>
<mu2>150</mu2>
<fdir1>0 1 0</fdir1>
</ode>
</friction>
</surface>
</collision>
<visual name='main_visual'>
<pose relative_to='base_link'>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>5 0.2 0.1</size>
</box>
</geometry>
</visual>
<visual name='visual_1'>
<pose relative_to='base_link'>2.5 0 0 -1.570796327 0 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.05</radius>
</cylinder>
</geometry>
</visual>
<visual name='visual_2'>
<pose relative_to='base_link'>-2.5 0 0 -1.570796327 0 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.05</radius>
</cylinder>
</geometry>
</visual>
<gravity>1</gravity>
<kinematic>0</kinematic>
</link>

<plugin filename="libignition-gazebo-track-controller-system.so"
name="ignition::gazebo::systems::TrackController">
<link>base_link</link>
<!--debug>true</debug-->
</plugin>

<!-- Moving Forward: W -->
<plugin filename="libignition-gazebo-triggered-publisher-system.so"
name="ignition::gazebo::systems::TriggeredPublisher">
<input type="ignition.msgs.Int32" topic="/keyboard/keypress">
<match field="data">87</match>
</input>
<output type="ignition.msgs.Double" topic="/model/conveyor/link/base_link/track_cmd_vel">
data: 10.0
</output>
</plugin>

<!-- Moving Backward: X -->
<plugin filename="libignition-gazebo-triggered-publisher-system.so"
name="ignition::gazebo::systems::TriggeredPublisher">
<input type="ignition.msgs.Int32" topic="/keyboard/keypress">
<match field="data">88</match>
</input>
<output type="ignition.msgs.Double" topic="/model/conveyor/link/base_link/track_cmd_vel">
data: -1.0
</output>
</plugin>

<!-- Stop: S -->
<plugin filename="libignition-gazebo-triggered-publisher-system.so"
name="ignition::gazebo::systems::TriggeredPublisher">
<input type="ignition.msgs.Int32" topic="/keyboard/keypress">
<match field="data">83</match>
</input>
<output type="ignition.msgs.Double" topic="/model/conveyor/link/base_link/track_cmd_vel">
data: 0.0
</output>
</plugin>
</model>

<model name='box'>
<pose frame=''>0 0 1 0 0 0</pose>
<link name='base_link'>
<inertial>
<mass>1.06</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<visual name='main_visual'>
<pose relative_to='base_link'>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<collision name='main_collision'>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
<pose relative_to='base_link'>0 0 0 0 0 0</pose>
</collision>
</link>
</model>

<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<ignition-gui>
<title>Transform control</title>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">230</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</ignition-gui>
</plugin>

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<ignition-gui>
<anchors target="Transform control">
<line own="left" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">200</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</ignition-gui>
</plugin>

<plugin filename="KeyPublisher" name="Key publisher">
<ignition-gui>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>

<plugin filename="VisualizeContacts" name="Visualize Contacts">
<ignition-gui>
<title>Visualize Contacts</title>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">230</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#ffffff</property>
</ignition-gui>
</plugin>
</gui>
</world>
</sdf>
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