Comments (5)
is incorrect and should be:
Fix suggested in #683 .
However, this is no longer documented.
What is no longer documented?
If you are ok putting the wrapper in its own robotinterface and avoid using the implicit wrapper, you can see how to use the plugin in https://github.com/robotology/gazebo-yarp-plugins/tree/29d474fbc674ef0f402cc9b42056bab88f99eb88/tutorial/model/basestate .
from gazebo-yarp-plugins.
For instance, something it is not clear to me is where to add the config file:
In the documentation, there is written (it seems it should be placed in
model://
)* <yarpConfigurationFile>model://path-to-the-configuration-file</yarpConfigurationFile>
can I add it to the path of the world file? I would like to have the config file in a
config
folder next toworld
file. └── rl_ergoCubGazeboV1_1 ├── config │ └── base_estimator.ini └── world
yarpConfigurationFile
arguments are parsed via the gazebo::common::SystemPaths::Instance()->FindFileURI()
(see
model://path/to/a/file.txt
looking if for each model_path
the paths in GAZEBO_MODEL_PATH
there exist the file <model_path>/path/to/a/file.txt
(you can find the logic in https://github.com/gazebosim/gazebo-classic/blob/gazebo11_11.14.0/gazebo/common/SystemPaths.cc#L315-L339).
So, if you want to find it, you need to put some of its parents path in GAZEBO_MODEL_PATH
. However, that may be inconvenient. There is any reason why you do not want to use yarpConfigurationString
instead?
from gazebo-yarp-plugins.
However, that may be inconvenient. There is any reason why you do not want to use yarpConfigurationString instead?
You are right. This is how I added the device to the gazebo world
<plugin name="basestate" filename="libgazebo_yarp_basestate.so">
<yarpConfigurationString>(WRAPPER (name /ergocubSim/floating_base/state:o) (period 10) (device analogServer)) (DRIVER (device gazebo_basestate) (baseLink root_link)) </yarpConfigurationString>
</plugin>
from gazebo-yarp-plugins.
For instance, something it is not clear to me is where to add the config file:
In the documentation, there is written (it seems it should be placed in model://
)
* <yarpConfigurationFile>model://path-to-the-configuration-file</yarpConfigurationFile>
can I add it to the path of the world file? I would like to have the config file in a config
folder next to world
file
.
└── rl_ergoCubGazeboV1_1
├── config
│ └── base_estimator.ini
└── world
from gazebo-yarp-plugins.
Closing with this #682 (comment) solution
from gazebo-yarp-plugins.
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- [basestate] Plugin is using `AnalogServer` wrapper which will be soon removed
- Windows CI Failure End of August 2023 caused by OpenCV 4.8.0 HOT 5
- Add Hand mk5.1 coupling handler HOT 5
- PID are not handled correctly for fingers joints in ergoCubGazeboV1 HOT 3
- Windows CI Failure mid September 2023 HOT 6
- Question about additional wrapper group in simulated IMU configuration HOT 1
- Cannot call IRGBDSensor::getRgbResolution() when using a gazebo_yarp_camera plugin HOT 12
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