New system plugin called DriveToPoseController (backport #2679)
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New system plugin to gz-sim called DriveToPoseController: This controller receives a target pose in the Gazebo coordinate system on /cmd_pose topic and calculates and publishes a command velocity on /cmd_vel topic to move the robot towards the target. --------- Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
| <plugin | ||
| filename="gz-sim-physics-system" | ||
| name="gz::sim::systems::Physics"> | ||
| </plugin> |
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When I ran the example, Gazebo launched successfully and the UI loaded but the simulation area remained blank. I found that removing this plugin block from the world file resolved the issue. Not sure why this happened or if it was just an isolated issue on my end, but thought it was worth mentioning.
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I believe this is due to the behavior in Harmonic for default plugins mentioned here. If that is the case it should actually be OK to not have the plugin defined in both Ionic and Harmonic, can you give that a quick try if possible? Then I guess a solution could be to:
- Open a PR to
gz-sim9that removes thePhysicsplugin. - Backport both that PR and this to Harmonic.
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Yes, removing the <plugin> tag should do it. I'd recommend removing the <gui> tag as well unless you have a specific reason for not using the default gui config.
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New system plugin to gz-sim called DriveToPoseController
Backport #2679 to Harmonic