Open nkoenig opened 1 week ago
@osrf-jenkins run tests
I see this error msg when running the levels.sdf world but performers + levels do seem to work though:
[Err] [LevelManager.cc:110] Could not find a plugin tag with name gz::sim. Levels and distributed simulation will not work.
Thanks. It looks like I had a incorrect else
. Should be fixed in 4c1a186
🎉 New feature
Summary
I'm slowly splitting up #1669. This PR breaks out the consolidation of entity creation into a separate PR. The LevelManager had entity creation logic, which mimicked (mostly) the functionality in SdfEntityCreator.
The SdfEntityCreator now contains the logic to create entities, and the level manager's logic has been removed. The SimulationRunner loads the level manager, plugins, and calls
SdfEntityCreator::CreateEntities
.Notes
LogicalAudioSensorPlugin
andPosePublisher
systems usedtopicFromScopedName
withfalse
for the_excludeWorld
parameter. Prior to this PR, this result was a model scoped name (/mode/blah). This was because the model wasn't attached to the world when the plugin'sConfigure
function was called. With this PR, the model is now properly attached. In order to maintain the expected behavior, I've changed thefalse
totrue
when using thetopicFromScopedName
function.Wind
plugin was loaded by the LevelManager. I've propagated this to SdfEntityCreator. I don't think this should effect simulation behavior.Test it
The tests should pass.
Checklist
codecheck
passed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
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messages.