Clean up lrauv_gazebo_plugins worlds
#272
Conversation
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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@arjo129 @adityapande-1995 @caguero I'm seeing strange behavior. Running: gz sim -v4 --gui-config install/share/lrauv_gazebo_plugins/config/gui.config portuguese_ledge.sdfhas the intended outcome, whereas: gz sim -v4 --gui-config install/share/lrauv_gazebo_plugins/config/gui.config tethys_at_portuguese_ledge.sdfyields nothing. Do you see the same? |
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Neither are working for me. I'm getting the following error: |
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@arjo129 ahh, I wasn't explicit about how to build the workspace. It should be merged installed ! |
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Hmmm lots of weird behavior. I can see the gui but no hint of tiles or tethys. |
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This is what I see for both: Might I add that I believe the hooks file assumes a non-merge-install scenario. |
It's less weird than having only one working 😅 I suspect some sort of race in how plugins are loaded, but it's just a hunch.
Hmm, shouldn't be the case as we're using cmake install prefix: lrauv/lrauv_gazebo_plugins/hooks/hook.sh.in Lines 1 to 4 in 7438958 Edit: I get the exact same behavior with merged and symlink installed workspaces. |
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Alright, it was picking up another SDF file with the same name for me... Now we are seeing the same. |
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Curiously enough, removing |
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We should be removing science sensor soon enough. I can take alook at EnvironmentPreload and see what happens. |
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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I gave up on trying to figure out what was going on. Merged everything back into each world in 7e72734. That works just fine. |
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@caguero re: number of worlds. Let me know if you want to go away with the worlds that start with a Tethys in them or not. Remember there is no generic mechanism to work with these worlds (everything is setup to work with MBARI LRAUVs only). |
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Getting some weird behavior. Not sure exactly what went wrong. Need to investigate. |
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Seems like if a vehicle is spawned, |
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Yeah looks like it I'm trying to find the Entity Creation service. Are you able to reproduce the behaviour? |
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OK so it makes sense. Seems like the Update: The fix is taking a little longer than expected. Not the only unexpected thing that happened (:argentina: vs :saudi_arabia:). |
Someone went to bed in a jokey mood. |
If we still don't have a generic way of launching vehicles I'm leaning towards keeping it as it is preserving the worlds. |
For reference see osrf/lrauv#272 (comment) Essentially, if we spawn an entity using the `UserCommand` system, it will create the entity during the `PreUpdate` phase. However, the `Buoyancy` system only checks for new entities during the `PreUpdate` phase (It does this to precompute volume so it does not need to be computed on every run). This means the buoyancy system may or may not catch the newly created entities. Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
* Fixes buoyancy flakiness when spawning entities For reference see osrf/lrauv#272 (comment) Essentially, if we spawn an entity using the `UserCommand` system, it will create the entity during the `PreUpdate` phase. However, the `Buoyancy` system only checks for new entities during the `PreUpdate` phase (It does this to precompute volume so it does not need to be computed on every run). This means the buoyancy system may or may not catch the newly created entities. Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Precisely what the title says. Incidentally closes #132.