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robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).
BSD 3-Clause "New" or "Revised" License
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Port gazebo-yarp-plugins FT sensor model to Gazebo Garden (without YARP integration) #3

Closed traversaro closed 1 year ago

traversaro commented 1 year ago

Port the model introduced in https://github.com/robotology/gazebo-yarp-plugins/pull/648 to run in Gazebo Garden, for the time being without any YARP-integration. To do so, follow the example in https://github.com/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/sensors.sdf#L253 . As for the first step you do not have YARP integration, you can check the FT sensor reading looking at the Gazebo topic published via:

gz topic -l

and by then printing the topic that correspond to the FT sensor via:

gz topic -e -t <ft_topic_name>

where you should substitute <ft_topic_name> with the topic of the FT name.

Once the model is ready, you can commit it to the repo.

lucapa17 commented 1 year ago

We added a directory with the model (https://github.com/robotology/study-gazebo-garden-yarp-plugins/commit/2ed886b92fe026e84e7486c374fcf46ec3e26259). We added also a README (https://github.com/robotology/study-gazebo-garden-yarp-plugins/commit/00200fa4d471f3a5cf2ad757cd7b6242ad18ea53) with the instructions to run the model and see the output of the FT sensor.