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osrf / vrx

Virtual RobotX (VRX) resources.
Apache License 2.0
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Composite models in fuel #511

Open M1chaelM opened 2 years ago

M1chaelM commented 2 years ago

Our navigation courses are composite models that contain an arrangement of buoys. For example, short_navigation_course0 is made from 6 of the mb_marker_buoy models. These models are uploaded to ignition fuel, but when we add them to an sdf we are attaching the vrx::PolyhedraBouyancyDrag plugin to each one separately.

It should be straightforward to create a local model that uses the uploaded mb_marker_buoy models in fuel, but I'm not sure how to upload the course itself to fuel without hard-coding the plugin settings. @caguero : is there a way to do this?

caguero commented 2 years ago

There might be a way using the parameter passing experimental feature from SDFormat. This will allow you to modify the inner components of an SDF element from the outside. There's an example in vrx_ign/models/wamv/model.sdf.erb. Also, see the associated tutorial.