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fix adding system plugins tutorial #2602

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Sep 6, 2024
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fix adding system plugins tutorial #2602

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6 changes: 3 additions & 3 deletions tutorials/adding_system_plugins.md
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ to create the vehicle used in this tutorial.

# Adding a system plugin

[This Gazebo tutorial](https://gazebosim.org/api/sim/8/createsystemplugins.html)
[This Gazebo tutorial](https://gazebosim.org/api/sim/9/createsystemplugins.html)
describes what is a system plugin in depth. Intuitively, you can envision a
system plugin as a piece of code that modifies the behavior of the simulation
when the general physics engine does not exactly capture your needs.
Expand Down Expand Up @@ -46,7 +46,7 @@ your turtle does not sink anymore.

```bash
mkdir -p ~/gazebo_maritime/worlds
wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf
wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf
export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models
gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf
```
Expand Down Expand Up @@ -130,7 +130,7 @@ And run Gazebo:
gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf
```

Now, when our simple trajectory controller reaches its target and stops appling
Now, when our simple trajectory controller reaches its target and stops applying
force, the turtle stops moving acting like the fluid decelerates its motion.
Additionally you can notice how the up and down oscillations are also damped by
the effect of the hydrodynamics.
Expand Down
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