Vacuum plugin gazebo

based on the existing plugin from https://github.com/ros-simulation/gazebo_ros_pkgs developed by wentaro but ported to for the new version of gazebo harmonic It has some modifications to generate more force so you don't have to use the workaround of using many plugin instances for getting it to work properly thing and tailor it better fit your needs

improvements

• added sdf elements that show max_distance, max_force this shows the maximum force and distnace at whihc the plugin interacts with the environment
• added a scaler to improve the amount of force applied set to one

Shortcomings

• doesn't use rays and only works for really small items which is good enough for my use case
• Improvements need to be done using the rays in gazebo
• not necessarily a true, real implementation