Commit c11fe3de authored by Ibrahim Ahmed's avatar Ibrahim Ahmed
Browse files

non-verbose plugin

parent 96f93950
......@@ -15,6 +15,12 @@
## Setup
Download the VM with gazebo and Matlab gazebo plugin files.
Clone this repository.
Download the model database to make custom worlds.
```
# Download model database:
git clone https://github.com/osrf/gazebo_models ~/src/
......@@ -25,7 +31,7 @@ git clone https://github.com/osrf/gazebo_models ~/src/
These docs apply to the VM.
Gazebo variables can be initialized by running `/usr/share/gazebo/setup.sh`.
Gazebo variables can be initialized by running `/usr/share/gazebo/setup.sh`. You can add that to your `.bashrc`. Additional variables and plugin paths in this repo can be added to them by running the local [`setup.sh`](./setup.sh) script.
Gazebo worlds located in `/usr/share/gazebo-9/worlds`.
......
......@@ -52,7 +52,7 @@ namespace gazebo
void OnUpdate()
{
ignition::math::v4::Vector3d vel = this->link->WorldLinearVel();
std::cerr << "Update: " << vel << "\n";
// std::cerr << "Update: " << vel << "\n";
msgs::Vector3d msg;
msgs::Set(&msg, vel);
this->pub->Publish(msg);
......
......@@ -85,10 +85,10 @@
<heading_deg>0</heading_deg>
</spherical_coordinates>
<state world_name='default'>
<sim_time>0 0</sim_time>
<sim_time>10 40000000</sim_time>
<real_time>0 0</real_time>
<wall_time>1597304384 766304884</wall_time>
<iterations>0</iterations>
<wall_time>1600891374 682942720</wall_time>
<iterations>10040</iterations>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
......@@ -100,23 +100,23 @@
</link>
</model>
<model name='octocopter'>
<pose frame=''>0.002846 0.00316 0.5 0 -0 0</pose>
<pose frame=''>139.848 0.00316 0.135 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='wholebody'>
<pose frame=''>0.002846 0.00316 0.5 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 -0 0 -0 0</acceleration>
<wrench>0 0 -0 0 -0 0</wrench>
<pose frame=''>139.848 0.00316 0.135 0 -0 0</pose>
<velocity>19.8309 0 0 0 -0 0</velocity>
<acceleration>-32.8986 0 -0 0 -0 0</acceleration>
<wrench>-45.4 0 -0 0 -0 0</wrench>
</link>
</model>
<model name='quadrotor'>
<pose frame=''>-0.908023 -2.26733 0 0 -0 0</pose>
<pose frame=''>-0.908011 -2.26734 0 -2e-06 -2e-06 0.002043</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>-0.908023 -2.26733 0.182466 0 -0 0</pose>
<pose frame=''>-0.908011 -2.26734 0.182466 -2e-06 -2e-06 0.002043</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0.978164 0.759299 -7.82765 -0.71783 -0.933378 -2.93884</acceleration>
<wrench>1.28726 0.999238 -10.3012 0 -0 0</wrench>
<acceleration>8.39884 -4.82255 8.07342 -2.20417 0.828527 -0.132659</acceleration>
<wrench>11.0529 -6.34648 10.6246 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
......@@ -125,7 +125,7 @@
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>4.00948 -4.32702 3.63287 0 0.539644 2.25218</pose>
<pose frame=''>13.1393 4.16024 8.64437 0 0.615644 -2.81901</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
......
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