Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix SDF plugin variables for MulticopterMotorModel #1981

Open
wants to merge 6 commits into
base: gz-sim7
Choose a base branch
from
Open

Fix SDF plugin variables for MulticopterMotorModel #1981

wants to merge 6 commits into from

Conversation

bperseghetti
Copy link
Member

@bperseghetti bperseghetti commented May 2, 2023 •
edited
Loading

🦟 Bug fix

Fixes #1980

Summary

Updated the MulticopterMotorModel plugin to use unified SDF variable
formatting. Included a deprecation warning for users that the old variables will be
removed in harmonic.

Checklist

  • Signed all commits for DCO
  • Added tests
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

@bperseghetti bperseghetti requested a review from mjcarroll as a code owner May 2, 2023 04:09
@github-actions github-actions bot added the 🌱 garden Ignition Garden label May 2, 2023
@bperseghetti bperseghetti force-pushed the pr-mmm-sdf-fix branch 2 times, most recently from ec77ecd to 7c61f1b Compare May 2, 2023 04:14
@azeey
Copy link
Contributor

azeey commented May 2, 2023

FWIW, the parameter names were directly taken from https://github.com/ethz-asl/rotors_simulator/blob/master/rotors_gazebo_plugins/src/gazebo_motor_model.cpp to make it easier for users to transition from RotorS based models.

@azeey azeey requested a review from ahcorde May 8, 2023 18:46
@azeey azeey added the beta Targeting beta release of upcoming collection label Jul 31, 2023
@azeey
Copy link
Contributor

azeey commented Aug 21, 2023

The plan is to make backward compatible changes in ign-gazebo6 and gz-sim7 without warnings (maybe with a todo to enable warnings) and then enable warnings in main (Harmonic). And then remove the old parameters in Gazebo-I

ahcorde
ahcorde requested changes Aug 21, 2023
View reviewed changes
Copy link
Contributor

@ahcorde ahcorde left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

pending comments

@azeey azeey removed the beta Targeting beta release of upcoming collection label Aug 29, 2023
@azeey
Copy link
Contributor

azeey commented Aug 29, 2023

Removing beta from this as well per our conversation with Ben.

@bperseghetti
Fix SDF plugin variables for MulticopterMotorModel
2522741 
Updated the Multicopter Motor Model plugin to use unified SDF variable
formatting. Included a deprecation warning for users that the old variables will be
removed in harmonic.

Signed-off-by: Benjamin Perseghetti <[email protected]>
@bperseghetti
Update MulticopterMotorModel tests.
c47fc78 
Signed-off-by: Benjamin Perseghetti <[email protected]>
@bperseghetti
Updated to info and use topic naming.
c7ad1a8 
Signed-off-by: Benjamin Perseghetti <[email protected]>
@bperseghetti bperseghetti requested review from ahcorde and azeey June 26, 2024 16:24
@bperseghetti
Use gzmsg and fix typo.
df269c5 
Signed-off-by: Benjamin Perseghetti <[email protected]>
@bperseghetti
Update to keep bad naming for multicopter control.
fa1694c 
Signed-off-by: Benjamin Perseghetti <[email protected]>
ahcorde
ahcorde approved these changes Jun 27, 2024
View reviewed changes
Copy link
Contributor

@ahcorde ahcorde left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@azeey any other comments ?

@bperseghetti
Fix typo jointName->linkName.
bc9a70f 
Signed-off-by: Benjamin Perseghetti <[email protected]>
@azeey azeey added the beta Targeting beta release of upcoming collection label Jul 29, 2024
@azeey
Copy link
Contributor

azeey commented Aug 6, 2024

@bperseghetti can you merge from gz-sim7 to hopefully get green CI? Also, I suggest we keep the old plugin variables for one of the tests to make sure this is still backward compatible.

@azeey azeey removed the beta Targeting beta release of upcoming collection label Aug 26, 2024
@azeey
Copy link
Contributor

azeey commented Dec 20, 2024

@bperseghetti Garden is now EOL, so we'll need to retarget this. It's best to retarget this to main or gz-sim9 and backport.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@ahcorde ahcorde ahcorde approved these changes

@mjcarroll mjcarroll Awaiting requested review from mjcarroll mjcarroll is a code owner

@azeey azeey Awaiting requested review from azeey

Requested changes must be addressed to merge this pull request.

Assignees

@bperseghetti bperseghetti

Labels
🌱 garden Ignition Garden
Projects
Core development
Status: In progress
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

MulticopterMotorModel uses improper SDF formatting.
3 participants
@bperseghetti @azeey @ahcorde