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updated plugin .so names
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@klaxalk
klaxalk committed Aug 15, 2023
1 parent ff63fc7 commit 8dd4ddf
Showing 1 changed file with 19 additions and 18 deletions.
37 changes: 19 additions & 18 deletions .../mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/component_snippets.sdf.jinja
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Original file line number Diff line number Diff line change
Expand Up @@ -745,7 +745,7 @@ limitations under the License.

<!-- Macro to add the magnetometer_plugin{-->
{%- macro magnetometer_plugin_macro(pub_rate, noise_density, random_walk, bias_correlation_time, mag_topic) -%}
<plugin name="magnetometer_plugin" filename="libgazebo_magnetometer_plugin.so">
<plugin name="magnetometer_plugin" filename="libMrsGazeboCommonResources_MagnetometerPlugin.so">
<robotNamespace/>
<pubRate>{{ pub_rate }}</pubRate>
<noiseDensity>{{ noise_density }}</noiseDensity>
Expand Down Expand Up @@ -921,7 +921,7 @@ limitations under the License.
<resolution>{{ resolution }}</resolution>
</range>
</ray>
<plugin name='{{ name }}_plugin' filename='libMRSGazeboRangefinderPlugin.so'>
<plugin name='{{ name }}_plugin' filename='libMrsGazeboCommonResources_RangefinderPlugin.so'>
<gaussianNoise>{{ noise }}</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>{{ frame_rate }}</updateRate>
Expand Down Expand Up @@ -979,7 +979,7 @@ limitations under the License.
<stddev>{{ noise_stddev }}</stddev>
</noise>
</camera>
<plugin name="{{ camera_name }}_plugin" filename="libMRSGazeboCameraPlugin.so">
<plugin name="{{ camera_name }}_plugin" filename="libMrsGazeboCommonResources_CameraPlugin.so">
<alwaysOn>true</alwaysOn>
<updateRate>{{ frame_rate }}</updateRate>
<cameraName>{{ camera_name }}</cameraName>
Expand Down Expand Up @@ -1066,7 +1066,7 @@ limitations under the License.
<env_texture_size>{{ lens_texture_size }}</env_texture_size>
</lens>
</camera>
<plugin name="{{ camera_name }}_plugin" filename="libMRSGazeboCameraPlugin.so">
<plugin name="{{ camera_name }}_plugin" filename="libMrsGazeboCommonResources_CameraPlugin.so">
<alwaysOn>true</alwaysOn>
<updateRate>{{ frame_rate }}</updateRate>
<cameraName>{{ camera_name }}</cameraName>
Expand Down Expand Up @@ -1150,7 +1150,7 @@ limitations under the License.
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="{{ sensor_name }}_plugin" filename="libgazebo_lidar_plugin.so">
<plugin name="{{ sensor_name }}_plugin" filename="libMrsGazeboCommonResources_2DLidarPlugin.so">
<robotNamespace/>
<min_distance>0.1</min_distance>
<max_distance>35.0</max_distance>
Expand Down Expand Up @@ -1363,7 +1363,7 @@ limitations under the License.
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name='sweeper_plugin' filename='libMRSGazebo2DLidarPlugin.so'>
<plugin name='sweeper_plugin' filename='libMrsGazeboCommonResources_2DLidarPlugin.so'>
<topicName>scanse_sweep/range</topicName>
<frameName>{{ namespace }}/scanse_sweep</frameName>
<parentFrameName>{{ namespace}}/fcu</parentFrameName>
Expand Down Expand Up @@ -1393,7 +1393,8 @@ limitations under the License.
<pose>0 0 -0.029 0 0 {{ rad180 }}</pose>
<geometry>
<mesh>
<uri>model://mrs_robots_description/meshes/sensors/rplidar.stl</uri>
<uri>model://mrs_robots_description/meshes/seMrsGazeboCommonResources_3DLidarGpuPlugiMrsGazeboCommonResources_3DLidarGpuPlugii
.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
Expand Down Expand Up @@ -1489,10 +1490,10 @@ limitations under the License.
{%- set lidar_yaw = 0 -%}

{% if enable_gpu_ray %}
{%- set velodyne_plugin_filename ="libMRSGazebo3DLidarGpuPlugin.so" -%}
{%- set velodyne_plugin_filename ="libMrsGazeboCommonResources_3DLidarGpuPlugin.so" -%}
{%- set sensor_type = "gpu_ray" -%}
{% else %}
{%- set velodyne_plugin_filename ="libMRSGazebo3DLidarPlugin.so" -%}
{%- set velodyne_plugin_filename ="libMrsGazeboCommonResources_3DLidarPlugin.so" -%}
{%- set sensor_type = "ray" -%}
{% endif %}

Expand Down Expand Up @@ -1642,10 +1643,10 @@ limitations under the License.
{%- set imu_yaw = 0 -%}

{% if enable_gpu_ray %}
{%- set ouster_plugin_filename ="libMRSGazebo3DLidarGpuPlugin.so" -%}
{%- set ouster_plugin_filename ="libMrsGazeboCommonResources_3DLidarGpuPlugin.so" -%}
{%- set sensor_type = "gpu_ray" -%}
{% else %}
{%- set ouster_plugin_filename ="libMRSGazebo3DLidarPlugin.so" -%}
{%- set ouster_plugin_filename ="libMrsGazeboCommonResources_3DLidarPlugin.so" -%}
{%- set sensor_type = "ray" -%}
{% endif %}

Expand Down Expand Up @@ -2071,7 +2072,7 @@ limitations under the License.

</link>

<plugin name="{{ camera_name }}{{ camera_suffix }}_plugin" filename="libMRSGazeboRealsensePlugin.so">
<plugin name="{{ camera_name }}{{ camera_suffix }}_plugin" filename="libMrsGazeboCommonResources_RealsensePlugin.so">
<camera_name>{{ camera_name }}</camera_name>
<camera_suffix>{{ camera_suffix }}</camera_suffix>
<useRealistic>{{ enable_realistic_realsense }}</useRealistic>
Expand Down Expand Up @@ -2398,7 +2399,7 @@ limitations under the License.
<stddev>0.01</stddev>
</noise>
</camera>
<plugin name="camera_plugin" filename="libMRSGazeboCameraPlugin.so">
<plugin name="camera_plugin" filename="libMrsGazeboCommonResources_CameraPlugin.so">
<alwaysOn>true</alwaysOn>
<updateRate>{{ camera_update_rate }}</updateRate>
<cameraName>servo_camera</cameraName>
Expand All @@ -2423,7 +2424,7 @@ limitations under the License.
</sensor>
</link>

<plugin name="servo_camera_plugin" filename="libMRSGazeboServoCameraPlugin.so">
<plugin name="servo_camera_plugin" filename="libMrsGazeboCommonResources_ServoCameraPlugin.so">
<tilt_update_rate>{{ tilt_update_rate }}</tilt_update_rate>
<max_pitch_rate>{{ max_pitch_rate }}</max_pitch_rate>
<max_pitch>{{ max_pitch }}</max_pitch>
Expand Down Expand Up @@ -2863,7 +2864,7 @@ limitations under the License.
</visual>
</link>

<plugin name="water_gun_plugin" filename="libMRSGazeboWaterGunPlugin.so">
<plugin name="water_gun_plugin" filename="libMrsGazeboCommonResources_WaterGunPlugin.so">
<muzzle_velocity>{{ muzzle_velocity }}</muzzle_velocity>
<offset_x>{{ nozzle_offset_x }}</offset_x>
<offset_y>{{ nozzle_offset_y }}</offset_y>
Expand Down Expand Up @@ -2901,7 +2902,7 @@ limitations under the License.
</visual>
</link>

<plugin name="light_plugin" filename="libMRSGazeboLightPlugin.so">
<plugin name="light_plugin" filename="libMrsGazeboCommonResources_LightPlugin.so">
<offset_x>{{ x }}</offset_x>
<offset_y>{{ y }}</offset_y>
<offset_z>{{ z }}</offset_z>
Expand Down Expand Up @@ -2942,7 +2943,7 @@ limitations under the License.
{{ zero_inertial_macro() }}
</link>

<plugin name="safety_led_plugin" filename="libMRSSafetyLedPlugin.so">
<plugin name="safety_led_plugin" filename="libMrsGazeboCommonResources_SafetyLedPlugin.so">
<model_name>safety_led</model_name>
<failure_duration_threshold>{{ failure_duration_threshold }}</failure_duration_threshold>
<model_spawn_delay>5.0</model_spawn_delay>
Expand Down Expand Up @@ -3055,7 +3056,7 @@ limitations under the License.
</visual>
</link>

<plugin name="parachute_plugin" filename="libMRSGazeboParachutePlugin.so">
<plugin name="parachute_plugin" filename="libMrsGazeboCommonResources_ParachutePlugin.so">
<air_density>1.225</air_density>
<drag_coeff>500</drag_coeff>
<cross_section>0.25</cross_section>
Expand Down

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