[ros2] gazebo_ros_force plugin #784
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| include_directories(include) | ||
| include_directories( | ||
| include | ||
| ${gazebo_dev_INCLUDE_DIRS} |
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Is needed? Thought include was added with ament_target_dependencies also
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Yeah it fails to find the ign-math includes for me
gazebo_plugins/CMakeLists.txt
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| @@ -46,6 +65,11 @@ ament_package() | |||
| install(DIRECTORY include/ | |||
| DESTINATION include) | |||
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| install(TARGETS gazebo_ros_force | |||
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We can just have one install target for all the plugins
install(TARGETS
gazebo_ros_force
gazebo_ros_template
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
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Good call, done 0cc0e06
gazebo_plugins/CMakeLists.txt
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| target_link_libraries(gazebo_ros_force | ||
| ${gazebo_ros_LIBRARIES} | ||
| ${geometry_msgs_LIBRARIES} | ||
| ) |
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Want to make sure these lines and the include_directories lines are needed
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It seems to work ok without the link libs now. I know I originally added them for a reason... Weird... The include still seems to be needed, but removed libs: 0cc0e06
| Send an empty / zero message to stop applying a force. | ||
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| Example Usage: | ||
| \verbatim |
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I think \code{.xml} shows up better
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It sounds like it should, so changed 0cc0e06
| impl_->wrench_msg_.force = | ||
| gazebo_ros::Convert<geometry_msgs::msg::Vector3>(ignition::math::Vector3d::Zero); | ||
| impl_->wrench_msg_.torque = | ||
| gazebo_ros::Convert<geometry_msgs::msg::Vector3>(ignition::math::Vector3d::Zero); |
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I believe these will already be zeroed out by the default constructor
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Oh you're right, here's a handy reference. I'll update.
| // Wait until box moves | ||
| unsigned int sleep = 0; | ||
| unsigned int max_sleep = 30; | ||
| while (sleep < max_sleep && abs(box->WorldPose().Pos().X()) < tol) { |
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Perhaps there should be a larger tolerance for seeing that it moved. 10e-10 could just be the initial rounding error
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Good idea, increased in 0cc0e06
| @@ -0,0 +1,83 @@ | |||
| // Copyright 2012 Open Source Robotics Foundation, Inc. | |||
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Are you referring to the lack of an end year, or to it being different from 2018? I think even after the refactoring, there's still enough left from the original plugin to keep the same initial year for each file.
Regarding the lack of a final year, take a look at this conversation.
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Oh cool, thought end year was needed
| @@ -0,0 +1,103 @@ | |||
| // Copyright 2013 Open Source Robotics Foundation, Inc. | |||
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Example usage (for copy paste if anyone needs it in the future): |
gazebo::ServerFixturefor testing