From 1527a8ce093113cddf3a4615c13c6774e9a36fe5 Mon Sep 17 00:00:00 2001 From: Martin Pecka <peckama2@fel.cvut.cz> Date: Tue, 19 Jan 2021 16:02:35 +0100 Subject: [PATCH 1/6] Publish ground truth robot position as dynamic TF. --- ign_migration_scripts/launch/preview.ign | 24 +++++++++- .../scripts/spawn_preview_model.py | 14 +++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../launch/spawner.rb | 12 ++++- .../ssci_x2_sensor_config_1/launch/spawner.rb | 12 ++++- .../ssci_x4_sensor_config_1/launch/spawner.rb | 12 ++++- .../ssci_x4_sensor_config_2/launch/spawner.rb | 12 ++++- .../x1_sensor_config_6/launch/spawner.rb | 12 ++++- .../x2_sensor_config_7/launch/spawner.rb | 12 ++++- .../x3_sensor_config_5/launch/spawner.rb | 12 ++++- .../x4_sensor_config_6/launch/spawner.rb | 12 ++++- subt_ign/launch/cave_circuit.ign | 24 +++++++++- subt_ign/launch/cloudsim_sim.ign | 24 +++++++++- subt_ign/launch/competition.ign | 24 +++++++++- subt_ign/launch/competition_no_ros.ign | 48 +++++++++++++++++-- subt_ign/launch/tunnel_circuit_practice.ign | 24 +++++++++- subt_ign/launch/urban_circuit.ign | 24 +++++++++- subt_ign/launch/virtual_stix.ign | 48 +++++++++++++++++-- subt_ign/launch/virtual_stix_headless.ign | 48 +++++++++++++++++-- subt_ign/test/test.ign | 48 +++++++++++++++++-- 45 files changed, 695 insertions(+), 63 deletions(-) diff --git a/ign_migration_scripts/launch/preview.ign b/ign_migration_scripts/launch/preview.ign index e0c13ca0..42109dc6 100644 --- a/ign_migration_scripts/launch/preview.ign +++ b/ign_migration_scripts/launch/preview.ign @@ -209,11 +209,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> </include> </sdf> @@ -258,11 +268,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/ign_migration_scripts/scripts/spawn_preview_model.py b/ign_migration_scripts/scripts/spawn_preview_model.py index 5d64a928..e2fe426e 100755 --- a/ign_migration_scripts/scripts/spawn_preview_model.py +++ b/ign_migration_scripts/scripts/spawn_preview_model.py @@ -73,11 +73,23 @@ def spawn_preview_model(args): etree.SubElement(plugin, 'publish_sensor_pose').text = 'true' etree.SubElement(plugin, 'publish_collision_pose').text = 'false' etree.SubElement(plugin, 'publish_visual_pose').text = 'false' - etree.SubElement(plugin, 'publish_nested_model_pose').text = 'true' + etree.SubElement(plugin, 'publish_nested_model_pose').text = 'false' etree.SubElement(plugin, 'use_pose_vector_msg').text = 'true' etree.SubElement(plugin, 'static_publisher').text = 'true' etree.SubElement(plugin, 'static_update_frequency').text = '1' + plugin = etree.SubElement(model, 'plugin', + filename='libignition-gazebo-pose-publisher-system.so', + name='ignition::gazebo::systems::PosePublisher') + + etree.SubElement(plugin, 'publish_link_pose').text = 'false' + etree.SubElement(plugin, 'publish_sensor_pose').text = 'false' + etree.SubElement(plugin, 'publish_collision_pose').text = 'false' + etree.SubElement(plugin, 'publish_visual_pose').text = 'false' + etree.SubElement(plugin, 'publish_nested_model_pose').text = 'true' + etree.SubElement(plugin, 'use_pose_vector_msg').text = 'true' + etree.SubElement(plugin, 'static_publisher').text = 'false' + sdf_esc = etree.tostring(sdf, encoding="unicode", with_tail=False).replace('"', r'\"').replace('\n', '') diff --git a/submitted_models/cerberus_anymal_b_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_anymal_b_sensor_config_1/launch/spawner.rb index cdeca0c7..fe5d17d9 100644 --- a/submitted_models/cerberus_anymal_b_sensor_config_1/launch/spawner.rb +++ b/submitted_models/cerberus_anymal_b_sensor_config_1/launch/spawner.rb @@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher"> </plugin> diff --git a/submitted_models/cerberus_anymal_b_sensor_config_2/launch/spawner.rb b/submitted_models/cerberus_anymal_b_sensor_config_2/launch/spawner.rb index 2e14fbc2..318e7868 100644 --- a/submitted_models/cerberus_anymal_b_sensor_config_2/launch/spawner.rb +++ b/submitted_models/cerberus_anymal_b_sensor_config_2/launch/spawner.rb @@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher"> </plugin> diff --git a/submitted_models/cerberus_gagarin_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_gagarin_sensor_config_1/launch/spawner.rb index 75c20842..11e70614 100755 --- a/submitted_models/cerberus_gagarin_sensor_config_1/launch/spawner.rb +++ b/submitted_models/cerberus_gagarin_sensor_config_1/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/cerberus_m100_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_m100_sensor_config_1/launch/spawner.rb index 44958be7..c8642053 100755 --- a/submitted_models/cerberus_m100_sensor_config_1/launch/spawner.rb +++ b/submitted_models/cerberus_m100_sensor_config_1/launch/spawner.rb @@ -42,11 +42,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb b/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb index 50a215e1..0bef6e80 100644 --- a/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb +++ b/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb b/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb index 7c010a58..44be8de4 100644 --- a/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb +++ b/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb index 10b8d567..15036ea3 100644 --- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb +++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb @@ -64,11 +64,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_pose_publisher>true</static_pose_publisher> <static_pose_update_frequency>1</static_pose_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb index 2cc7f1f5..3be36704 100644 --- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb +++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb @@ -64,11 +64,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_pose_publisher>true</static_pose_publisher> <static_pose_update_frequency>1</static_pose_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb index 86877d8c..f7fc32a7 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb @@ -104,11 +104,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb index a754d02c..e9fbf13e 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb @@ -104,11 +104,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/explorer_ds1_sensor_config_1/launch/spawner.rb b/submitted_models/explorer_ds1_sensor_config_1/launch/spawner.rb index 01e42a5d..f6c940ac 100755 --- a/submitted_models/explorer_ds1_sensor_config_1/launch/spawner.rb +++ b/submitted_models/explorer_ds1_sensor_config_1/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/explorer_r2_sensor_config_1/launch/spawner.rb b/submitted_models/explorer_r2_sensor_config_1/launch/spawner.rb index ff0bbbd2..6d7b77fc 100644 --- a/submitted_models/explorer_r2_sensor_config_1/launch/spawner.rb +++ b/submitted_models/explorer_r2_sensor_config_1/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/explorer_r2_sensor_config_2/launch/spawner.rb b/submitted_models/explorer_r2_sensor_config_2/launch/spawner.rb index f25486cd..806e8a6b 100644 --- a/submitted_models/explorer_r2_sensor_config_2/launch/spawner.rb +++ b/submitted_models/explorer_r2_sensor_config_2/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb b/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb index ae4114e7..a4121290 100644 --- a/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb +++ b/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb b/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb index 0cc2ce82..2bc9a12b 100644 --- a/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb +++ b/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb index a0b8bf25..ea79f71a 100644 --- a/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb +++ b/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb @@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb index 4742334d..a7b738bd 100644 --- a/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb +++ b/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb @@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb index f4559e6d..8fe792f3 100644 --- a/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb +++ b/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/marble_husky_sensor_config_2/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_2/launch/spawner.rb index 85d0ef2a..6c59844a 100644 --- a/submitted_models/marble_husky_sensor_config_2/launch/spawner.rb +++ b/submitted_models/marble_husky_sensor_config_2/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb index a0ab02aa..8760f8bb 100755 --- a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb +++ b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb index 44296220..b52c1544 100644 --- a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb +++ b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> diff --git a/submitted_models/robotika_freyja_sensor_config_2/launch/spawner.rb b/submitted_models/robotika_freyja_sensor_config_2/launch/spawner.rb index 82cdc9fb..45bf05eb 100644 --- a/submitted_models/robotika_freyja_sensor_config_2/launch/spawner.rb +++ b/submitted_models/robotika_freyja_sensor_config_2/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> diff --git a/submitted_models/robotika_kloubak_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_kloubak_sensor_config_1/launch/spawner.rb index 9c0f42d3..a058c31e 100644 --- a/submitted_models/robotika_kloubak_sensor_config_1/launch/spawner.rb +++ b/submitted_models/robotika_kloubak_sensor_config_1/launch/spawner.rb @@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> diff --git a/submitted_models/robotika_kloubak_sensor_config_2/launch/spawner.rb b/submitted_models/robotika_kloubak_sensor_config_2/launch/spawner.rb index b3cdd1c6..8458ba2f 100644 --- a/submitted_models/robotika_kloubak_sensor_config_2/launch/spawner.rb +++ b/submitted_models/robotika_kloubak_sensor_config_2/launch/spawner.rb @@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> diff --git a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb index 9b5c3460..99f6b76c 100644 --- a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb +++ b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/spawner.rb b/submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/spawner.rb index 5032277c..181f2a08 100644 --- a/submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/spawner.rb +++ b/submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/spawner.rb @@ -34,11 +34,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/spawner.rb b/submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/spawner.rb index f6731782..5b784715 100644 --- a/submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/spawner.rb +++ b/submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/spawner.rb @@ -19,11 +19,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb b/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb index 7f8ca08b..02cd3571 100755 --- a/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb +++ b/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb @@ -46,11 +46,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> diff --git a/submitted_models/ssci_x4_sensor_config_1/launch/spawner.rb b/submitted_models/ssci_x4_sensor_config_1/launch/spawner.rb index e6f6bacb..4593e079 100755 --- a/submitted_models/ssci_x4_sensor_config_1/launch/spawner.rb +++ b/submitted_models/ssci_x4_sensor_config_1/launch/spawner.rb @@ -41,11 +41,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/ssci_x4_sensor_config_2/launch/spawner.rb b/submitted_models/ssci_x4_sensor_config_2/launch/spawner.rb index 574df7d4..bca50c46 100755 --- a/submitted_models/ssci_x4_sensor_config_2/launch/spawner.rb +++ b/submitted_models/ssci_x4_sensor_config_2/launch/spawner.rb @@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/x1_sensor_config_6/launch/spawner.rb b/submitted_models/x1_sensor_config_6/launch/spawner.rb index 6441e890..eb938747 100644 --- a/submitted_models/x1_sensor_config_6/launch/spawner.rb +++ b/submitted_models/x1_sensor_config_6/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/x2_sensor_config_7/launch/spawner.rb b/submitted_models/x2_sensor_config_7/launch/spawner.rb index d79e59d8..d713cb2d 100644 --- a/submitted_models/x2_sensor_config_7/launch/spawner.rb +++ b/submitted_models/x2_sensor_config_7/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/x3_sensor_config_5/launch/spawner.rb b/submitted_models/x3_sensor_config_5/launch/spawner.rb index 13091559..6e346e41 100644 --- a/submitted_models/x3_sensor_config_5/launch/spawner.rb +++ b/submitted_models/x3_sensor_config_5/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/x4_sensor_config_6/launch/spawner.rb b/submitted_models/x4_sensor_config_6/launch/spawner.rb index 02d0e3d4..4ce9a881 100644 --- a/submitted_models/x4_sensor_config_6/launch/spawner.rb +++ b/submitted_models/x4_sensor_config_6/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign index 487610ad..5069367f 100644 --- a/subt_ign/launch/cave_circuit.ign +++ b/subt_ign/launch/cave_circuit.ign @@ -707,11 +707,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> @@ -849,11 +859,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign index a906d60c..126df538 100644 --- a/subt_ign/launch/cloudsim_sim.ign +++ b/subt_ign/launch/cloudsim_sim.ign @@ -584,11 +584,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> @@ -726,11 +736,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign index 08620425..e8f7bbe5 100644 --- a/subt_ign/launch/competition.ign +++ b/subt_ign/launch/competition.ign @@ -508,11 +508,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> @@ -650,11 +660,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/subt_ign/launch/competition_no_ros.ign b/subt_ign/launch/competition_no_ros.ign index 8760e206..91544f6a 100644 --- a/subt_ign/launch/competition_no_ros.ign +++ b/subt_ign/launch/competition_no_ros.ign @@ -430,11 +430,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <!-- Battery plugin -->\n"\ " <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\ " name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\ @@ -497,11 +507,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <!-- Battery plugin -->\n"\ " <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\ " name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\ @@ -550,11 +570,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\ " name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\ " <robotNamespace>model/#{_name}</robotNamespace>\n"\ @@ -733,11 +763,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\ " name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\ " <robotNamespace>model/#{_name}</robotNamespace>\n"\ diff --git a/subt_ign/launch/tunnel_circuit_practice.ign b/subt_ign/launch/tunnel_circuit_practice.ign index dd09f821..ce505330 100644 --- a/subt_ign/launch/tunnel_circuit_practice.ign +++ b/subt_ign/launch/tunnel_circuit_practice.ign @@ -511,11 +511,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> @@ -653,11 +663,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/subt_ign/launch/urban_circuit.ign b/subt_ign/launch/urban_circuit.ign index eb4a04ac..db86807c 100644 --- a/subt_ign/launch/urban_circuit.ign +++ b/subt_ign/launch/urban_circuit.ign @@ -511,11 +511,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> @@ -653,11 +663,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/subt_ign/launch/virtual_stix.ign b/subt_ign/launch/virtual_stix.ign index 6ba2137d..6a101648 100644 --- a/subt_ign/launch/virtual_stix.ign +++ b/subt_ign/launch/virtual_stix.ign @@ -395,11 +395,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <!-- Battery plugin -->\n"\ " <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\ " name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\ @@ -468,11 +478,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <!-- Battery plugin -->\n"\ " <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\ " name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\ @@ -527,11 +547,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\ " name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\ " <robotNamespace>model/#{_name}</robotNamespace>\n"\ @@ -716,11 +746,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\ " name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\ " <robotNamespace>model/#{_name}</robotNamespace>\n"\ diff --git a/subt_ign/launch/virtual_stix_headless.ign b/subt_ign/launch/virtual_stix_headless.ign index 2250fb1d..69ebb922 100644 --- a/subt_ign/launch/virtual_stix_headless.ign +++ b/subt_ign/launch/virtual_stix_headless.ign @@ -305,11 +305,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <!-- Battery plugin -->\n"\ " <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\ " name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\ @@ -378,11 +388,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <!-- Battery plugin -->\n"\ " <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\ " name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\ @@ -437,11 +457,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\ " name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\ " <robotNamespace>model/#{_name}</robotNamespace>\n"\ @@ -626,11 +656,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\ " name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\ " <robotNamespace>model/#{_name}</robotNamespace>\n"\ diff --git a/subt_ign/test/test.ign b/subt_ign/test/test.ign index 33dd5dd0..a7dde393 100644 --- a/subt_ign/test/test.ign +++ b/subt_ign/test/test.ign @@ -324,11 +324,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <!-- Battery plugin -->\n"\ " <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\ " name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\ @@ -390,11 +400,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <!-- Battery plugin -->\n"\ " <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\ " name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\ @@ -442,11 +462,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\ " name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\ " <robotNamespace>model/#{_name}</robotNamespace>\n"\ @@ -573,11 +603,21 @@ " <publish_sensor_pose>true</publish_sensor_pose>\n"\ " <publish_collision_pose>false</publish_collision_pose>\n"\ " <publish_visual_pose>false</publish_visual_pose>\n"\ - " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <publish_nested_model_pose>false</publish_nested_model_pose>\n"\ " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\ " </plugin>\n"\ + " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ + " name=\"ignition::gazebo::systems::PosePublisher\">\n"\ + " <publish_link_pose>false</publish_link_pose>\n"\ + " <publish_sensor_pose>false</publish_sensor_pose>\n"\ + " <publish_collision_pose>false</publish_collision_pose>\n"\ + " <publish_visual_pose>false</publish_visual_pose>\n"\ + " <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\ + " <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ + " <static_publisher>false</static_publisher>\n"\ + " </plugin>\n"\ " <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\ " name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\ " <robotNamespace>model/#{_name}</robotNamespace>\n"\ From ef61729197c082fc7e4a95360f65b4b1c875fc25 Mon Sep 17 00:00:00 2001 From: Martin Pecka <peckama2@fel.cvut.cz> Date: Tue, 9 Feb 2021 01:19:18 +0100 Subject: [PATCH 2/6] Fix a few more places with ground truth publishers. --- .../launch/spawner.rb | 12 +++++++++- .../launch/spawner.rb | 12 +++++++++- .../launch/spawner.rb | 12 +++++++++- .../launch/spawner.rb | 12 +++++++++- subt_ign/launch/cloudsim_sim.ign | 24 +++++++++++++++++-- subt_ign/launch/competition.ign | 24 +++++++++++++++++-- 6 files changed, 88 insertions(+), 8 deletions(-) diff --git a/submitted_models/cerberus_anymal_c_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_anymal_c_sensor_config_1/launch/spawner.rb index 4c943b20..804890fa 100644 --- a/submitted_models/cerberus_anymal_c_sensor_config_1/launch/spawner.rb +++ b/submitted_models/cerberus_anymal_c_sensor_config_1/launch/spawner.rb @@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher"> </plugin> diff --git a/submitted_models/cerberus_anymal_c_sensor_config_2/launch/spawner.rb b/submitted_models/cerberus_anymal_c_sensor_config_2/launch/spawner.rb index 68fbb676..b0621857 100644 --- a/submitted_models/cerberus_anymal_c_sensor_config_2/launch/spawner.rb +++ b/submitted_models/cerberus_anymal_c_sensor_config_2/launch/spawner.rb @@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher"> </plugin> diff --git a/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb index f36589ca..0030a836 100755 --- a/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb +++ b/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/costar_shafter_sensor_config_1/launch/spawner.rb b/submitted_models/costar_shafter_sensor_config_1/launch/spawner.rb index 2dbda268..cd036845 100644 --- a/submitted_models/costar_shafter_sensor_config_1/launch/spawner.rb +++ b/submitted_models/costar_shafter_sensor_config_1/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign index 9d4418d8..686a1358 100644 --- a/subt_ign/launch/cloudsim_sim.ign +++ b/subt_ign/launch/cloudsim_sim.ign @@ -878,11 +878,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> @@ -1083,11 +1093,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign index fa44e554..869f082b 100644 --- a/subt_ign/launch/competition.ign +++ b/subt_ign/launch/competition.ign @@ -809,11 +809,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> @@ -1014,11 +1024,21 @@ <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> From fb24a0cf068a5c744a15f21fb21539291fa3da64 Mon Sep 17 00:00:00 2001 From: Martin Pecka <peckama2@fel.cvut.cz> Date: Tue, 23 Feb 2021 03:02:13 +0100 Subject: [PATCH 3/6] Fix ground truth publishers on new robots. Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz> --- .../launch/spawner.rb | 12 +++++++++++- .../launch/spawner.rb | 14 ++++++++++++-- .../launch/spawner.rb | 14 ++++++++++++-- .../explorer_r3_sensor_config_1/launch/spawner.rb | 12 +++++++++++- .../explorer_r3_sensor_config_2/launch/spawner.rb | 12 +++++++++++- .../marble_hd2_sensor_config_3/launch/spawner.rb | 12 +++++++++++- .../marble_hd2_sensor_config_4/launch/spawner.rb | 12 +++++++++++- .../marble_husky_sensor_config_3/launch/spawner.rb | 12 +++++++++++- .../marble_husky_sensor_config_4/launch/spawner.rb | 12 +++++++++++- 9 files changed, 101 insertions(+), 11 deletions(-) diff --git a/submitted_models/cerberus_m100_sensor_config_2/launch/spawner.rb b/submitted_models/cerberus_m100_sensor_config_2/launch/spawner.rb index b1bb4b70..b1805761 100755 --- a/submitted_models/cerberus_m100_sensor_config_2/launch/spawner.rb +++ b/submitted_models/cerberus_m100_sensor_config_2/launch/spawner.rb @@ -42,11 +42,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb index 90f8af40..7c4a845d 100644 --- a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb +++ b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb @@ -187,10 +187,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>true</static_publisher> + <static_update_frequency>1</static_update_frequency> + </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> - <static_pose_publisher>true</static_pose_publisher> - <static_pose_update_frequency>1</static_pose_update_frequency> + <static_publisher>false</static_publisher> </plugin> <!-- Battery plugin --> diff --git a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb index 5ef226d6..d44f1d19 100644 --- a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb +++ b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb @@ -187,10 +187,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>true</static_publisher> + <static_update_frequency>1</static_update_frequency> + </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> - <static_pose_publisher>true</static_pose_publisher> - <static_pose_update_frequency>1</static_pose_update_frequency> + <static_publisher>false</static_publisher> </plugin> <!-- Battery plugin --> diff --git a/submitted_models/explorer_r3_sensor_config_1/launch/spawner.rb b/submitted_models/explorer_r3_sensor_config_1/launch/spawner.rb index 3ae8b34f..a0fd6d8b 100755 --- a/submitted_models/explorer_r3_sensor_config_1/launch/spawner.rb +++ b/submitted_models/explorer_r3_sensor_config_1/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/explorer_r3_sensor_config_2/launch/spawner.rb b/submitted_models/explorer_r3_sensor_config_2/launch/spawner.rb index 024a0e7c..99db8d4f 100644 --- a/submitted_models/explorer_r3_sensor_config_2/launch/spawner.rb +++ b/submitted_models/explorer_r3_sensor_config_2/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb index 9534405f..c7938987 100644 --- a/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb +++ b/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb @@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb index 9534405f..c7938987 100644 --- a/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb +++ b/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb @@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/marble_husky_sensor_config_3/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_3/launch/spawner.rb index 2afb7fbe..44ca3fcf 100644 --- a/submitted_models/marble_husky_sensor_config_3/launch/spawner.rb +++ b/submitted_models/marble_husky_sensor_config_3/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/marble_husky_sensor_config_4/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_4/launch/spawner.rb index d700ae42..04d1e1d4 100644 --- a/submitted_models/marble_husky_sensor_config_4/launch/spawner.rb +++ b/submitted_models/marble_husky_sensor_config_4/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> From 4d603861c7fefa4eba8c9939506c026c0d18c90c Mon Sep 17 00:00:00 2001 From: Martin Pecka <peckama2@fel.cvut.cz> Date: Tue, 16 Nov 2021 01:18:15 +0100 Subject: [PATCH 4/6] Synced with master. --- .../launch/common.rb | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb index c4544cbf..23cf3c60 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb @@ -92,11 +92,21 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> From adbf938ead28b7aa29d111caf2ee3409efaae00d Mon Sep 17 00:00:00 2001 From: Martin Pecka <peckama2@fel.cvut.cz> Date: Tue, 16 Nov 2021 18:15:04 +0100 Subject: [PATCH 5/6] Added more models. --- .../barcs_qav500_sensor_config_1/launch/spawner.rb | 12 +++++++++++- .../barcs_qav500_sensor_config_2/launch/spawner.rb | 12 +++++++++++- .../coro_allie_sensor_config_1/launch/spawner.rb | 12 +++++++++++- .../coro_allie_sensor_config_2/launch/spawner.rb | 12 +++++++++++- .../launch/spawner.rb | 12 +++++++++++- .../coro_crystal_sensor_config_1/launch/spawner.rb | 12 +++++++++++- .../coro_jeanine_sensor_config_1/launch/spawner.rb | 12 +++++++++++- .../coro_jeanine_sensor_config_2/launch/spawner.rb | 12 +++++++++++- .../coro_karen_sensor_config_1/launch/spawner.rb | 12 +++++++++++- .../coro_karen_sensor_config_2/launch/spawner.rb | 12 +++++++++++- .../coro_mike_sensor_config_1/launch/spawner.rb | 12 +++++++++++- .../coro_mike_sensor_config_2/launch/spawner.rb | 12 +++++++++++- .../coro_pam_sensor_config_1/launch/spawner.rb | 12 +++++++++++- .../coro_rocky_sensor_config_1/launch/spawner.rb | 12 +++++++++++- .../coro_rocky_sensor_config_2/launch/spawner.rb | 12 +++++++++++- .../coro_rocky_sensor_config_3/launch/spawner.rb | 12 +++++++++++- .../launch/spawner.rb | 12 +++++++++++- .../launch/spawner.rb | 12 +++++++++++- .../launch/spawner.rb | 12 +++++++++++- .../launch/spawner.rb | 12 +++++++++++- .../launch/common.rb | 12 +++++++++++- .../launch/spawner.rb | 12 +++++++++++- .../launch/spawner.rb | 13 +++++++++++-- .../marble_husky_sensor_config_5/launch/spawner.rb | 12 +++++++++++- .../launch/spawner.rb | 12 +++++++++++- 25 files changed, 275 insertions(+), 26 deletions(-) diff --git a/submitted_models/barcs_qav500_sensor_config_1/launch/spawner.rb b/submitted_models/barcs_qav500_sensor_config_1/launch/spawner.rb index 31d99401..c2865967 100755 --- a/submitted_models/barcs_qav500_sensor_config_1/launch/spawner.rb +++ b/submitted_models/barcs_qav500_sensor_config_1/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/barcs_qav500_sensor_config_2/launch/spawner.rb b/submitted_models/barcs_qav500_sensor_config_2/launch/spawner.rb index 01c33256..a321bb56 100755 --- a/submitted_models/barcs_qav500_sensor_config_2/launch/spawner.rb +++ b/submitted_models/barcs_qav500_sensor_config_2/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/coro_allie_sensor_config_1/launch/spawner.rb b/submitted_models/coro_allie_sensor_config_1/launch/spawner.rb index add44835..608ddcc0 100644 --- a/submitted_models/coro_allie_sensor_config_1/launch/spawner.rb +++ b/submitted_models/coro_allie_sensor_config_1/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name=\"ignition::gazebo::systems::PosePublisher\"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> diff --git a/submitted_models/coro_allie_sensor_config_2/launch/spawner.rb b/submitted_models/coro_allie_sensor_config_2/launch/spawner.rb index 00b2a9d6..9629dca3 100644 --- a/submitted_models/coro_allie_sensor_config_2/launch/spawner.rb +++ b/submitted_models/coro_allie_sensor_config_2/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name=\"ignition::gazebo::systems::PosePublisher\"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> diff --git a/submitted_models/coro_bandicoot_sensor_config_1/launch/spawner.rb b/submitted_models/coro_bandicoot_sensor_config_1/launch/spawner.rb index 87957b52..191da392 100644 --- a/submitted_models/coro_bandicoot_sensor_config_1/launch/spawner.rb +++ b/submitted_models/coro_bandicoot_sensor_config_1/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb b/submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb index d71c2d87..e9981c47 100644 --- a/submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb +++ b/submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/coro_jeanine_sensor_config_1/launch/spawner.rb b/submitted_models/coro_jeanine_sensor_config_1/launch/spawner.rb index 821ad378..e1cea9b0 100644 --- a/submitted_models/coro_jeanine_sensor_config_1/launch/spawner.rb +++ b/submitted_models/coro_jeanine_sensor_config_1/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name=\"ignition::gazebo::systems::PosePublisher\"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> diff --git a/submitted_models/coro_jeanine_sensor_config_2/launch/spawner.rb b/submitted_models/coro_jeanine_sensor_config_2/launch/spawner.rb index ebfabd2a..3aae7bcd 100644 --- a/submitted_models/coro_jeanine_sensor_config_2/launch/spawner.rb +++ b/submitted_models/coro_jeanine_sensor_config_2/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name=\"ignition::gazebo::systems::PosePublisher\"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> diff --git a/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb index 67b77744..d84cc775 100644 --- a/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb +++ b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb @@ -37,11 +37,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb index a2f2a116..c56780c0 100644 --- a/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb +++ b/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb @@ -37,11 +37,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/coro_mike_sensor_config_1/launch/spawner.rb b/submitted_models/coro_mike_sensor_config_1/launch/spawner.rb index 57186135..3dd668b1 100644 --- a/submitted_models/coro_mike_sensor_config_1/launch/spawner.rb +++ b/submitted_models/coro_mike_sensor_config_1/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name=\"ignition::gazebo::systems::PosePublisher\"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> diff --git a/submitted_models/coro_mike_sensor_config_2/launch/spawner.rb b/submitted_models/coro_mike_sensor_config_2/launch/spawner.rb index 0eb867df..a3d39e9f 100644 --- a/submitted_models/coro_mike_sensor_config_2/launch/spawner.rb +++ b/submitted_models/coro_mike_sensor_config_2/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name=\"ignition::gazebo::systems::PosePublisher\"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> diff --git a/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb b/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb index 5eb53e2c..c722482f 100644 --- a/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb +++ b/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb @@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> <robotNamespace>model/#{_name}</robotNamespace> diff --git a/submitted_models/coro_rocky_sensor_config_1/launch/spawner.rb b/submitted_models/coro_rocky_sensor_config_1/launch/spawner.rb index 5698972e..2efe0128 100644 --- a/submitted_models/coro_rocky_sensor_config_1/launch/spawner.rb +++ b/submitted_models/coro_rocky_sensor_config_1/launch/spawner.rb @@ -37,11 +37,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/coro_rocky_sensor_config_2/launch/spawner.rb b/submitted_models/coro_rocky_sensor_config_2/launch/spawner.rb index 8e34412b..feed90c7 100644 --- a/submitted_models/coro_rocky_sensor_config_2/launch/spawner.rb +++ b/submitted_models/coro_rocky_sensor_config_2/launch/spawner.rb @@ -37,11 +37,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/coro_rocky_sensor_config_3/launch/spawner.rb b/submitted_models/coro_rocky_sensor_config_3/launch/spawner.rb index 6619199e..fb2d0da3 100644 --- a/submitted_models/coro_rocky_sensor_config_3/launch/spawner.rb +++ b/submitted_models/coro_rocky_sensor_config_3/launch/spawner.rb @@ -37,11 +37,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_husky_sensor_config_1/launch/spawner.rb index 6e2dc039..5579dcf3 100644 --- a/submitted_models/ctu_cras_norlab_husky_sensor_config_1/launch/spawner.rb +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_1/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Gas Sensor plugin -->" <plugin filename="libGasEmitterDetectorPlugin.so" name="subt::GasDetector"> diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_husky_sensor_config_2/launch/spawner.rb index 738cc755..6e212e48 100644 --- a/submitted_models/ctu_cras_norlab_husky_sensor_config_2/launch/spawner.rb +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_2/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb index 8139b94c..f4c2aef8 100644 --- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb +++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb @@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Gas Sensor plugin --> <plugin filename="libGasEmitterDetectorPlugin.so" name="subt::GasDetector"> diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb index 74ff2d1a..f70cb74a 100644 --- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb +++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb @@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb index e2b8ae6d..cad53510 100644 --- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb +++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb @@ -68,11 +68,21 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb index f449d85a..c56edba0 100755 --- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb +++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb @@ -17,10 +17,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> + </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> diff --git a/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb b/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb index 533425c6..3af2243c 100644 --- a/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb +++ b/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb @@ -18,12 +18,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_pose_publisher>true</static_pose_publisher> <static_pose_update_frequency>1</static_pose_update_frequency> </plugin> - + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Publish rotor modelling system --> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> diff --git a/submitted_models/marble_husky_sensor_config_5/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_5/launch/spawner.rb index cf7e0a95..986f1569 100644 --- a/submitted_models/marble_husky_sensor_config_5/launch/spawner.rb +++ b/submitted_models/marble_husky_sensor_config_5/launch/spawner.rb @@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" name="ignition::gazebo::systems::LinearBatteryPlugin"> diff --git a/submitted_models/robotika_kloubak_sensor_config_3/launch/spawner.rb b/submitted_models/robotika_kloubak_sensor_config_3/launch/spawner.rb index c7a824af..f2a715b2 100644 --- a/submitted_models/robotika_kloubak_sensor_config_3/launch/spawner.rb +++ b/submitted_models/robotika_kloubak_sensor_config_3/launch/spawner.rb @@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> - <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> <static_publisher>true</static_publisher> <static_update_frequency>1</static_update_frequency> </plugin> + <plugin filename=\"libignition-gazebo-pose-publisher-system.so\" + name=\"ignition::gazebo::systems::PosePublisher\"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_publisher>false</static_publisher> + </plugin> <!-- Battery plugin --> <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\" name=\"ignition::gazebo::systems::LinearBatteryPlugin\"> From 406fd471821c857bb7eb0cc05daf1474c8aa86c9 Mon Sep 17 00:00:00 2001 From: Martin Pecka <peckama2@fel.cvut.cz> Date: Fri, 19 Nov 2021 22:45:10 +0100 Subject: [PATCH 6/6] Mode models. --- .../coro_hd2_sensor_config_1/launch/spawner.rb | 14 ++++++++++++-- .../coro_hd2_sensor_config_2/launch/spawner.rb | 14 ++++++++++++-- .../coro_mark_sensor_config_1/launch/spawner.rb | 14 ++++++++++++-- .../dynamo_x4_sensor_config_1/launch/spawner.rb | 14 ++++++++++++-- .../dynamo_x4_sensor_config_2/launch/spawner.rb | 14 ++++++++++++-- .../launch/spawner.rb | 14 ++++++++++++-- 6 files changed, 72 insertions(+), 12 deletions(-) diff --git a/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb b/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb index 99404cee..aa373903 100644 --- a/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb +++ b/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb @@ -36,10 +36,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_pose_publisher>true</static_pose_publisher> + <static_pose_update_frequency>1</static_pose_update_frequency> + </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> - <static_publisher>true</static_publisher> - <static_update_frequency>1</static_update_frequency> + <static_publisher>false</static_publisher> </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" diff --git a/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb b/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb index 66f4e1f5..accedffc 100644 --- a/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb +++ b/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb @@ -36,10 +36,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_pose_publisher>true</static_pose_publisher> + <static_pose_update_frequency>1</static_pose_update_frequency> + </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> - <static_publisher>true</static_publisher> - <static_update_frequency>1</static_update_frequency> + <static_publisher>false</static_publisher> </plugin> <!-- Battery plugin --> <plugin filename="libignition-gazebo-linearbatteryplugin-system.so" diff --git a/submitted_models/coro_mark_sensor_config_1/launch/spawner.rb b/submitted_models/coro_mark_sensor_config_1/launch/spawner.rb index 9a4dc9ad..b4bababd 100644 --- a/submitted_models/coro_mark_sensor_config_1/launch/spawner.rb +++ b/submitted_models/coro_mark_sensor_config_1/launch/spawner.rb @@ -17,10 +17,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_pose_publisher>true</static_pose_publisher> + <static_pose_update_frequency>1</static_pose_update_frequency> + </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> - <static_publisher>true</static_publisher> - <static_update_frequency>1</static_update_frequency> + <static_publisher>false</static_publisher> </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> diff --git a/submitted_models/dynamo_x4_sensor_config_1/launch/spawner.rb b/submitted_models/dynamo_x4_sensor_config_1/launch/spawner.rb index 09345a60..4df30e9f 100644 --- a/submitted_models/dynamo_x4_sensor_config_1/launch/spawner.rb +++ b/submitted_models/dynamo_x4_sensor_config_1/launch/spawner.rb @@ -41,10 +41,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_pose_publisher>true</static_pose_publisher> + <static_pose_update_frequency>1</static_pose_update_frequency> + </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> - <static_publisher>true</static_publisher> - <static_update_frequency>1</static_update_frequency> + <static_publisher>false</static_publisher> </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> diff --git a/submitted_models/dynamo_x4_sensor_config_2/launch/spawner.rb b/submitted_models/dynamo_x4_sensor_config_2/launch/spawner.rb index 1b537f2e..5a7ede32 100644 --- a/submitted_models/dynamo_x4_sensor_config_2/launch/spawner.rb +++ b/submitted_models/dynamo_x4_sensor_config_2/launch/spawner.rb @@ -17,10 +17,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_pose_publisher>true</static_pose_publisher> + <static_pose_update_frequency>1</static_pose_update_frequency> + </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> - <static_publisher>true</static_publisher> - <static_update_frequency>1</static_update_frequency> + <static_publisher>false</static_publisher> </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel"> diff --git a/submitted_models/explorer_canary1_sensor_config_1/launch/spawner.rb b/submitted_models/explorer_canary1_sensor_config_1/launch/spawner.rb index 10387051..65875f65 100755 --- a/submitted_models/explorer_canary1_sensor_config_1/launch/spawner.rb +++ b/submitted_models/explorer_canary1_sensor_config_1/launch/spawner.rb @@ -17,10 +17,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) <publish_sensor_pose>true</publish_sensor_pose> <publish_collision_pose>false</publish_collision_pose> <publish_visual_pose>false</publish_visual_pose> + <publish_nested_model_pose>false</publish_nested_model_pose> + <use_pose_vector_msg>true</use_pose_vector_msg> + <static_pose_publisher>true</static_pose_publisher> + <static_pose_update_frequency>1</static_pose_update_frequency> + </plugin> + <plugin filename="libignition-gazebo-pose-publisher-system.so" + name="ignition::gazebo::systems::PosePublisher"> + <publish_link_pose>false</publish_link_pose> + <publish_sensor_pose>false</publish_sensor_pose> + <publish_collision_pose>false</publish_collision_pose> + <publish_visual_pose>false</publish_visual_pose> <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose> <use_pose_vector_msg>true</use_pose_vector_msg> - <static_publisher>true</static_publisher> - <static_update_frequency>1000</static_update_frequency> + <static_publisher>false</static_publisher> </plugin> <plugin filename="libignition-gazebo-multicopter-motor-model-system.so" name="ignition::gazebo::systems::MulticopterMotorModel">