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dakejahldakejahl
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plugins: remove plugins from worlds, use server config file (#84)
* worlds: remove plugins, plugins are instead added via GZ_SIM_SERVER_CONFIG_PATH * fix sdf parser * increase default world ground plane by 5x
1 parent eacf5bf commit 46210f3

10 files changed

+2
-106
lines changed

‎sdf_parsing/check_sdf.cc

+1-1
Original file line numberDiff line numberDiff line change
@@ -27,7 +27,7 @@ int main(int argc, const char* argv[])
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if (!rootElement->HasElement("model"))
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{
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std::cerr << sdfPath << " is not a model SDF file!" << std::endl;
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return -3;
30+
return 0;
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}
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const sdf::ElementPtr modelElement = rootElement->GetElement("model");
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const std::string modelName = modelElement->Get<std::string>("name");

‎worlds/aruco.sdf

-11
Original file line numberDiff line numberDiff line change
@@ -6,17 +6,6 @@
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<real_time_factor>1.0</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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</physics>
9-
<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
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<plugin name="gz::sim::systems::UserCommands" filename="gz-sim-user-commands-system"/>
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<plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
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<plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"/>
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<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>
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<plugin name="gz::sim::systems::AirPressure" filename="gz-sim-air-pressure-system"/>
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<plugin name="gz::sim::systems::ApplyLinkWrench" filename="gz-sim-apply-link-wrench-system"/>
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<plugin name="gz::sim::systems::NavSat" filename="gz-sim-navsat-system"/>
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<plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">
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<render_engine>ogre2</render_engine>
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</plugin>
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<gui fullscreen="false">
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<!-- 3D scene -->
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<plugin filename="MinimalScene" name="3D View">

‎worlds/baylands.sdf

-11
Original file line numberDiff line numberDiff line change
@@ -5,17 +5,6 @@
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<real_time_factor>1.0</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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</physics>
8-
<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
9-
<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
10-
<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
11-
<plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
12-
<plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
13-
<plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
14-
<plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
15-
<plugin name='gz::sim::systems::NavSat' filename='gz-sim-navsat-system'/>
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<plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
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<render_engine>ogre2</render_engine>
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</plugin>
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<gui fullscreen='false'>
209

2110
<!-- 3D scene -->

‎worlds/default.sdf

+1-13
Original file line numberDiff line numberDiff line change
@@ -6,18 +6,6 @@
66
<real_time_factor>1.0</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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</physics>
9-
<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
10-
<plugin name="gz::sim::systems::UserCommands" filename="gz-sim-user-commands-system"/>
11-
<plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
12-
<plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"/>
13-
<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>
14-
<plugin name="gz::sim::systems::AirPressure" filename="gz-sim-air-pressure-system"/>
15-
<plugin name="gz::sim::systems::AirSpeed" filename="gz-sim-air-speed-system"/>
16-
<plugin name="gz::sim::systems::ApplyLinkWrench" filename="gz-sim-apply-link-wrench-system"/>
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<plugin name="gz::sim::systems::NavSat" filename="gz-sim-navsat-system"/>
18-
<plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">
19-
<render_engine>ogre2</render_engine>
20-
</plugin>
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<gui fullscreen="false">
2210
<!-- 3D scene -->
2311
<plugin filename="MinimalScene" name="3D View">
@@ -186,7 +174,7 @@
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<geometry>
187175
<plane>
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<normal>0 0 1</normal>
189-
<size>100 100</size>
177+
<size>500 500</size>
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</plane>
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</geometry>
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<material>

‎worlds/forest.sdf

-15
Original file line numberDiff line numberDiff line change
@@ -6,21 +6,6 @@
66
<real_time_factor>1.0</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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</physics>
9-
<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
10-
<plugin name="gz::sim::systems::UserCommands" filename="gz-sim-user-commands-system"/>
11-
<plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
12-
<plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"/>
13-
<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>
14-
<plugin name="gz::sim::systems::AirPressure" filename="gz-sim-air-pressure-system"/>
15-
<plugin name="gz::sim::systems::AirSpeed" filename="gz-sim-air-speed-system"/>
16-
<plugin name="gz::sim::systems::ApplyLinkWrench" filename="gz-sim-apply-link-wrench-system"/>
17-
<plugin name="gz::sim::systems::NavSat" filename="gz-sim-navsat-system"/>
18-
<plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">
19-
<render_engine>ogre2</render_engine>
20-
</plugin>
21-
<!-- PX4 custom plugins -->
22-
<plugin name="custom::OpticalFlowSystem" filename="libOpticalFlowSystem.so" />
23-
249
<gui fullscreen="false">
2510
<!-- 3D scene -->
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<plugin filename="MinimalScene" name="3D View">

‎worlds/frictionless.sdf

-11
Original file line numberDiff line numberDiff line change
@@ -27,17 +27,6 @@
2727
<real_time_update_rate>250</real_time_update_rate>
2828
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
2929
</physics>
30-
<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
31-
<plugin name="gz::sim::systems::UserCommands" filename="gz-sim-user-commands-system"/>
32-
<plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
33-
<plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"/>
34-
<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>
35-
<plugin name="gz::sim::systems::AirPressure" filename="gz-sim-air-pressure-system"/>
36-
<plugin name="gz::sim::systems::ApplyLinkWrench" filename="gz-sim-apply-link-wrench-system"/>
37-
<plugin name="gz::sim::systems::NavSat" filename="gz-sim-navsat-system"/>
38-
<plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">
39-
<render_engine>ogre2</render_engine>
40-
</plugin>
4130
<gui fullscreen="false">
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<!-- 3D scene -->
4332
<plugin filename="MinimalScene" name="3D View">

‎worlds/lawn.sdf

-11
Original file line numberDiff line numberDiff line change
@@ -6,17 +6,6 @@
66
<real_time_factor>1.0</real_time_factor>
77
<real_time_update_rate>250</real_time_update_rate>
88
</physics>
9-
<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
10-
<plugin name="gz::sim::systems::UserCommands" filename="gz-sim-user-commands-system"/>
11-
<plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
12-
<plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"/>
13-
<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>
14-
<plugin name="gz::sim::systems::AirPressure" filename="gz-sim-air-pressure-system"/>
15-
<plugin name="gz::sim::systems::ApplyLinkWrench" filename="gz-sim-apply-link-wrench-system"/>
16-
<plugin name="gz::sim::systems::NavSat" filename="gz-sim-navsat-system"/>
17-
<plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">
18-
<render_engine>ogre2</render_engine>
19-
</plugin>
209
<gui fullscreen="false">
2110
<!-- 3D scene -->
2211
<plugin filename="MinimalScene" name="3D View">

‎worlds/rover.sdf

-11
Original file line numberDiff line numberDiff line change
@@ -6,17 +6,6 @@
66
<real_time_factor>1.0</real_time_factor>
77
<real_time_update_rate>500</real_time_update_rate>
88
</physics>
9-
<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
10-
<plugin name="gz::sim::systems::UserCommands" filename="gz-sim-user-commands-system"/>
11-
<plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
12-
<plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"/>
13-
<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>
14-
<plugin name="gz::sim::systems::AirPressure" filename="gz-sim-air-pressure-system"/>
15-
<plugin name="gz::sim::systems::ApplyLinkWrench" filename="gz-sim-apply-link-wrench-system"/>
16-
<plugin name="gz::sim::systems::NavSat" filename="gz-sim-navsat-system"/>
17-
<plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">
18-
<render_engine>ogre2</render_engine>
19-
</plugin>
209
<gui fullscreen="false">
2110
<!-- 3D scene -->
2211
<plugin filename="MinimalScene" name="3D View">

‎worlds/walls.sdf

-11
Original file line numberDiff line numberDiff line change
@@ -6,17 +6,6 @@
66
<real_time_factor>1.0</real_time_factor>
77
<real_time_update_rate>250</real_time_update_rate>
88
</physics>
9-
<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
10-
<plugin name="gz::sim::systems::UserCommands" filename="gz-sim-user-commands-system"/>
11-
<plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
12-
<plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"/>
13-
<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>
14-
<plugin name="gz::sim::systems::AirPressure" filename="gz-sim-air-pressure-system"/>
15-
<plugin name="gz::sim::systems::ApplyLinkWrench" filename="gz-sim-apply-link-wrench-system"/>
16-
<plugin name="gz::sim::systems::NavSat" filename="gz-sim-navsat-system"/>
17-
<plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">
18-
<render_engine>ogre2</render_engine>
19-
</plugin>
209
<gui fullscreen="false">
2110
<!-- 3D scene -->
2211
<plugin filename="MinimalScene" name="3D View">

‎worlds/windy.sdf

-11
Original file line numberDiff line numberDiff line change
@@ -5,17 +5,6 @@
55
<real_time_factor>1.0</real_time_factor>
66
<real_time_update_rate>250</real_time_update_rate>
77
</physics>
8-
<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
9-
<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
10-
<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
11-
<plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
12-
<plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
13-
<plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
14-
<plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
15-
<plugin name='gz::sim::systems::NavSat' filename='gz-sim-navsat-system'/>
16-
<plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
17-
<render_engine>ogre2</render_engine>
18-
</plugin>
198
<gui fullscreen='false'>
209

2110
<!-- 3D scene -->

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