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Merge branch 'chapulina/resource_path' into jshep1/local_models
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‎CMakeLists.txt

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@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
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#============================================================================
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# Initialize the project
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#============================================================================
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project(ignition-gazebo2 VERSION 2.20.0)
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project(ignition-gazebo2 VERSION 2.20.1)
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#============================================================================
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# Find ignition-cmake

‎Changelog.md

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## Ignition Gazebo 2.x
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### Ignition Gazebo 2.x.x (2020-xx-xx)
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1. Added support for controlling which joints are published by the
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JointStatePublisher.
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* [Pull Request 222](https://github.com/ignitionrobotics/ign-gazebo/pull/222)
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### Ignition Gazebo 2.20.1 (2020-06-18)
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1. Properly add new models into the scenegraph. With this fix, when a model is spawned it will be added into the graph and resulting calls to the `scene/info` service will return a correct `msgs::Scene`.
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* [Pull Request 212](https://github.com/ignitionrobotics/ign-gazebo/pull/212)
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### Ignition Gazebo 2.20.0 (2020-06-09)
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‎examples/worlds/breadcrumbs.sdf

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<pose>-2 0 0 0 0 0</pose>
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<include>
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<uri>
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https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 Config 1
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https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/X2 Config 1
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</uri>
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</include>
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</model>

‎examples/worlds/camera_sensor.sdf

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<include>
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<pose>0 1 3 0.0 0.0 1.57</pose>
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<uri>
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https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Construction Cone
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https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone
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</uri>
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</include>
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‎examples/worlds/depth_camera_sensor.sdf

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<include>
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<pose>0 1 3 0.0 0.0 1.57</pose>
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<uri>
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https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Construction Barrel
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https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Barrel
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</uri>
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</include>
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‎examples/worlds/fuel.sdf

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</model>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/nate/models/double_pendulum_with_base/2</uri>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Double pendulum with base</uri>
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</include>
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<include>
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<pose>1 0 0 0 0 0</pose>
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<uri>https://fuel.ignitionrobotics.org/1.0/nate/models/my_Backpack</uri>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack</uri>
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</include>
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<include>
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<pose>2 5 0 0 0 0</pose>
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<uri>https://fuel.ignitionrobotics.org/1.0/chapulina/models/Gazebo - relative paths</uri>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gazebo - relative paths</uri>
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</include>
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</world>

‎examples/worlds/fuel_textured_mesh.sdf

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<static>true</static>
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<name>Rescue Randy</name>
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<pose>0 0 0 0 0 1.57</pose>
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<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Rescue Randy</uri>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy</uri>
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</include>
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<model name="ground_plane">

‎examples/worlds/gpu_lidar_sensor.sdf

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<include>
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<pose>0 0 0 0 0 1.57</pose>
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<uri>
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https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Playground
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https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Playground
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</uri>
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</include>
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‎examples/worlds/joint_controller.sdf

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

‎examples/worlds/joint_position_controller.sdf

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<?xml version="1.0" ?>
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<!--
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Ignition Gazebo joint position controller plugin demo
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Try sending joint position commands:
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ign topic -t "/model/joint_position_controller_demo/joint/j1/0/cmd_pos" -m ignition.msgs.Double -p "data: -1.0"
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ign topic -t "/model/joint_position_controller_demo/joint/j1/0/cmd_pos" -m ignition.msgs.Double -p "data: 1.0"
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-->
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<sdf version="1.6">
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<world name="default">
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<plugin
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filename="libignition-gazebo-physics-system.so"
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name="ignition::gazebo::systems::Physics">
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</plugin>
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<plugin
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filename="libignition-gazebo-scene-broadcaster-system.so"
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name="ignition::gazebo::systems::SceneBroadcaster">
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</plugin>
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<gui fullscreen="0">
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<!-- 3D scene -->
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<plugin filename="GzScene3D" name="3D View">
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<ignition-gui>
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<title>3D View</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="z">0</property>
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<anchor line="right" target="window" target_line="right"/>
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<anchor line="left" target="window" target_line="left"/>
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<anchor line="top" target="window" target_line="top"/>
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<anchor line="bottom" target="window" target_line="bottom"/>
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</ignition-gui>
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<engine>ogre</engine>
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<scene>scene</scene>
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<ambient_light>0.4 0.4 0.4</ambient_light>
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<background_color>0.8 0.8 0.8</background_color>
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<camera_pose>1 0 0.1 0 0.05 3.14</camera_pose>
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</plugin>
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<!-- World control -->
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<plugin filename="WorldControl" name="World control">
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<ignition-gui>
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<title>World control</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">72</property>
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<property type="double" key="width">121</property>
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<property type="double" key="z">1</property>
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<anchor line="left" target="window" target_line="left"/>
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<anchor line="bottom" target="window" target_line="bottom"/>
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</ignition-gui>
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<play_pause>true</play_pause>
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<step>true</step>
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<start_paused>true</start_paused>
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<service>/world/default/control</service>
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<stats_topic>/world/default/stats</stats_topic>
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</plugin>
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</gui>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>1 1 1 1</diffuse>
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<specular>0.5 0.5 0.5 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name="joint_position_controller_demo">
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<pose>0 0 0 0 1.57 0</pose>
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<link name="base_link">
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<pose>0.0 0.0 0.0 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>2.501</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>2.501</iyy>
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<iyz>0</iyz>
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<izz>5</izz>
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</inertia>
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<mass>120.0</mass>
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</inertial>
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<visual name="base_visual">
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<pose>0.0 0.0 0.0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.5 0.5 0.01</size>
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</box>
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</geometry>
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</visual>
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<collision name="base_collision">
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<pose>0.0 0.0 0.0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.5 0.5 0.01</size>
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</box>
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</geometry>
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</collision>
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</link>
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<link name="rotor">
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<pose>0.0 0.0 0.1 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>0.032</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.032</iyy>
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<iyz>0</iyz>
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<izz>0.00012</izz>
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</inertia>
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<mass>0.6</mass>
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</inertial>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.25 0.1 0.05</size>
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</box>
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</geometry>
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<material>
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<ambient>0.2 0.8 0.2 1</ambient>
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</material>
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</visual>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.25 0.1 0.05</size>
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</box>
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</geometry>
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</collision>
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</link>
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<joint name="world_fixed" type="fixed">
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<parent>world</parent>
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<child>base_link</child>
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</joint>
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<joint name="j1" type="revolute">
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<pose>0 0 -0.5 0 0 0</pose>
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<parent>base_link</parent>
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<child>rotor</child>
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<axis>
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<xyz>0 0 1</xyz>
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<dynamics>
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<damping>0.5</damping>
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</dynamics>
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</axis>
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</joint>
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<plugin
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filename="libignition-gazebo-joint-position-controller-system.so"
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name="ignition::gazebo::systems::JointPositionController">
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<joint_name>j1</joint_name>
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<p_gain>1</p_gain>
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<i_gain>0.1</i_gain>
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<d_gain>0.01</d_gain>
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<i_max>1</i_max>
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<i_min>-1</i_min>
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<cmd_max>1000</cmd_max>
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<cmd_min>-1000</cmd_min>
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</plugin>
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</model>
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</world>
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</sdf>

‎examples/worlds/lift_drag_battery.sdf

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<resistance>0.07</resistance>
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<smooth_current_tau>2.0</smooth_current_tau>
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<enable_recharge>true</enable_recharge>
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<!-- charging I = c / t, discharging I = P / V,
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<!-- charging I = c / t, discharging I = P / V,
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charging I should be > discharging I -->
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<charging_time>3.0</charging_time>
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<soc_threshold>0.51</soc_threshold>
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<!-- Consumer-specific -->
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<power_load>2.1</power_load>
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<start_on_motion>true</start_on_motion>

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