USD to SDF: Added some world plugins (#901)

Signed-off-by: ahcorde <[email protected]> Co-authored-by: Ashton Larkin <[email protected]>
gazebosim · Mar 23, 2022 · e5698ad · e5698ad
1 parent 27840ca
commit e5698ad
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diff --git a/usd/src/usd_parser/USDWorld.cc b/usd/src/usd_parser/USDWorld.cc
@@ -30,6 +30,7 @@
 #include "sdf/usd/usd_parser/USDStage.hh"
 #include "USDPhysics.hh"
 
+#include "sdf/Plugin.hh"
 #include "sdf/World.hh"
 
 namespace sdf
@@ -88,6 +89,30 @@ namespace usd
         continue;
       }
     }
+
+    // Add some plugins to run the Ignition Gazebo simulation
+    sdf::Plugin physicsPlugin;
+    physicsPlugin.SetName("ignition::gazebo::systems::Physics");
+    physicsPlugin.SetFilename("ignition-gazebo-physics-system");
+    _world.AddPlugin(physicsPlugin);
+
+    sdf::Plugin sensorsPlugin;
+    sensorsPlugin.SetName("ignition::gazebo::systems::Sensors");
+    sensorsPlugin.SetFilename("ignition-gazebo-sensors-system");
+    _world.AddPlugin(sensorsPlugin);
+
+    sdf::Plugin userCommandsPlugin;
+    userCommandsPlugin.SetName("ignition::gazebo::systems::UserCommands");
+    userCommandsPlugin.SetFilename("ignition-gazebo-user-commands-system");
+    _world.AddPlugin(userCommandsPlugin);
+
+    sdf::Plugin sceneBroadcasterPlugin;
+    sceneBroadcasterPlugin.SetName(
+      "ignition::gazebo::systems::SceneBroadcaster");
+    sceneBroadcasterPlugin.SetFilename(
+      "ignition-gazebo-scene-broadcaster-system");
+    _world.AddPlugin(sceneBroadcasterPlugin);
+
     return errors;
   }
 }

diff --git a/usd/src/usd_parser/usd2sdf_TEST.cc b/usd/src/usd_parser/usd2sdf_TEST.cc
@@ -104,6 +104,20 @@ TEST(check_cmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF))
     EXPECT_DOUBLE_EQ(0.0, world->Gravity()[1]);
     EXPECT_DOUBLE_EQ(-0.098, world->Gravity()[2]);
 
+    auto plugins = world->Plugins();
+    EXPECT_EQ(4u, plugins.size());
+    EXPECT_EQ("ignition::gazebo::systems::Physics", plugins[0].Name());
+    EXPECT_EQ("ignition-gazebo-physics-system", plugins[0].Filename());
+
+    EXPECT_EQ("ignition::gazebo::systems::Sensors", plugins[1].Name());
+    EXPECT_EQ("ignition-gazebo-sensors-system", plugins[1].Filename());
+
+    EXPECT_EQ("ignition::gazebo::systems::UserCommands", plugins[2].Name());
+    EXPECT_EQ("ignition-gazebo-user-commands-system", plugins[2].Filename());
+
+    EXPECT_EQ("ignition::gazebo::systems::SceneBroadcaster", plugins[3].Name());
+    EXPECT_EQ(
+      "ignition-gazebo-scene-broadcaster-system", plugins[3].Filename());
     // TODO(anyone) Check the remaining contents of outputUsdFilePath
     // when the parser is implemented
   }