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Fixed test worlds for underwater simulation of DopplerVelocityLogSystem plugin #2346

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Fixed test worlds for underwater simulation of DopplerVelocityLogSystem plugin #2346

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sauk2
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@sauk2 sauk2 commented Mar 28, 2024

🦟 Bug fix

Fixes #2344

Summary

Running the tests for DopplerVelocityLogSystem plugin results in a blank screen.

Command

  gz sim underwater_currents.sdf --verbose 2

Resulting blank screen
image

Solution

After adding the SceneBroadcaster plugin to the world SDF through the following lines

    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>

Running previous Command

  gz sim underwater_currents.sdf --verbose 2

Resulting simulation screen
image

Checklist

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

@sauk2 sauk2 requested a review from mjcarroll as a code owner March 28, 2024 08:23
@github-actions github-actions bot added the 🎵 harmonic Gazebo Harmonic label Mar 28, 2024
@azeey azeey mentioned this pull request Mar 28, 2024
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arjo129
arjo129 requested changes Apr 1, 2024
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Dont add scenebroadcaster to the tests. rather, create an example DVL world. Perhaps base it off the underwater currents or flat seabed worlds.

@sauk2 sauk2 mentioned this pull request Apr 17, 2024
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sauk2 commented Apr 17, 2024

@arjo129 I have pushed the changes in a separate PR #2373. Request you to take a look and provide feedback. If you prefer, you can close this PR.

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arjo129 commented Apr 18, 2024

Thanks @sauk2! Closing in favor of #2373.

@arjo129 arjo129 closed this Apr 18, 2024
arjo129 pushed a commit that referenced this pull request Apr 18, 2024
@sauk2
Added example world for DopplerVelocityLogSystem (#2373)
dfcfd00 
# Summary
The examples/worlds directory does not contain any example world for DopplerVelocityLogSystem plugin. This PR adds the following:

Example world based on test/worlds/flat_seabed.sdf but with a SceneBroadcaster.
README.md in test/worlds directory to inform users not to use those world files.
More information can be found in Issue #2344 and PR #2346.

# Test it
This world can be tested (after building and sourcing the workspace) using the following command
```
  gz sim flat_seabed.sdf
```
---------

Signed-off-by: Saurabh Kamat <[email protected]>
@sauk2 sauk2 deleted the fix/underwater-tests branch April 18, 2024 07:16
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@arjo129 arjo129 arjo129 requested changes

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Unable to run test worlds for underwater simulation
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@sauk2 @arjo129