From 889deef388d8c64cfe5762ac5acfe704f2058878 Mon Sep 17 00:00:00 2001 From: Van Malleghem Antoine Date: Fri, 6 Sep 2024 19:40:13 +0200 Subject: [PATCH] fix adding system plugins tutorial Signed-off-by: Van Malleghem Antoine --- tutorials/adding_system_plugins.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md index 3a415e630c..8cfa596b63 100644 --- a/tutorials/adding_system_plugins.md +++ b/tutorials/adding_system_plugins.md @@ -18,7 +18,7 @@ to create the vehicle used in this tutorial. # Adding a system plugin -[This Gazebo tutorial](https://gazebosim.org/api/sim/8/createsystemplugins.html) +[This Gazebo tutorial](https://gazebosim.org/api/sim/9/createsystemplugins.html) describes what is a system plugin in depth. Intuitively, you can envision a system plugin as a piece of code that modifies the behavior of the simulation when the general physics engine does not exactly capture your needs. @@ -46,7 +46,7 @@ your turtle does not sink anymore. ```bash mkdir -p ~/gazebo_maritime/worlds -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf ``` @@ -130,7 +130,7 @@ And run Gazebo: gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf ``` -Now, when our simple trajectory controller reaches its target and stops appling +Now, when our simple trajectory controller reaches its target and stops applying force, the turtle stops moving acting like the fluid decelerates its motion. Additionally you can notice how the up and down oscillations are also damped by the effect of the hydrodynamics.