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Add more documentation to environmental_sensor.sdf example world #2836

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Merged
merged 2 commits into from
Mar 28, 2025
Merged

Add more documentation to environmental_sensor.sdf example world #2836

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cd10e9d
Add more doc to environment sensor world
iche033 Mar 27, 2025
c952b14
Merge branch 'main' into environment_sensor_world_doc
iche033 Mar 28, 2025
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21 changes: 15 additions & 6 deletions examples/worlds/environmental_sensor.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,15 @@
gz topic -e -t /sensors/humidity
Then open this file by running:
gz sim environmental_sensor.sdf
Play the simulation and you should see a data stream of increasing numbers eventually stop at 90.

Optionally, enable environment visualization in the 3D window by opening
two GUI plugins via top right GUI plugin menu:
- `Environment Visualization` and
- `Point Cloud`: Click on `refresh` button and set `Point size` to a
reasonable value, e.g. 5

Play the simulation and you should see a data stream of increasing numbers in
the separate terminal, which eventually stops at 90.
-->
<sdf version="1.6">
<world name="environmental_sensor_example">
Expand All @@ -21,11 +29,6 @@
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<!-- The system is added to the world, so it handles all environmental data in the world-->
<plugin
filename="gz-sim-environmental-sensor-system"
name="gz::sim::systems::EnvironmentalSystem">
</plugin>

<!-- The system specifies where to preload -->
<plugin
Expand All @@ -42,6 +45,12 @@
</dimensions>
</plugin>

<!-- The system is added to the world, so it handles all environmental data in the world-->
<plugin
filename="gz-sim-environmental-sensor-system"
name="gz::sim::systems::EnvironmentalSystem">
</plugin>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
Expand Down