From b6b7fd2eded879e82007e9731d7e149818e4c563 Mon Sep 17 00:00:00 2001
From: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date: Fri, 27 Jan 2023 23:27:39 -0500
Subject: [PATCH 1/4] Add service to change camera follow pgain.

Example: gz service -s /gui/follow/pgain --reqtype gz.msgs.Double --reptype gz.msgs.Boolean --timeout 2000 --req 'data: 1.0'

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
---
 examples/standalone/scene_provider/README.md  | 12 ++++++
 src/plugins/camera_tracking/CameraTracking.cc | 40 ++++++++++++++++---
 src/plugins/camera_tracking/CameraTracking.hh |  1 +
 .../camera_tracking/CameraTracking.qml        |  1 +
 test/integration/camera_tracking.cc           |  8 ++++
 5 files changed, 56 insertions(+), 6 deletions(-)

diff --git a/examples/standalone/scene_provider/README.md b/examples/standalone/scene_provider/README.md
index 3183a83e4..9c6d06291 100644
--- a/examples/standalone/scene_provider/README.md
+++ b/examples/standalone/scene_provider/README.md
@@ -63,3 +63,15 @@ Update follow offset:
 ```
 gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 5, y: 5, z: 5'
 ```
+
+Set next follow pgain:
+
+```
+gz service -s /gui/follow/pgain --reqtype gz.msgs.Double --reptype gz.msgs.Boolean --timeout 2000 --req 'data: 1.0'
+```
+
+Update follow offset with new pgain:
+
+```
+gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 1, y: 1, z: 5'
+```
\ No newline at end of file
diff --git a/src/plugins/camera_tracking/CameraTracking.cc b/src/plugins/camera_tracking/CameraTracking.cc
index 99e526e03..68033a578 100644
--- a/src/plugins/camera_tracking/CameraTracking.cc
+++ b/src/plugins/camera_tracking/CameraTracking.cc
@@ -77,6 +77,13 @@ class CameraTrackingPrivate
   public: bool OnFollowOffset(const msgs::Vector3d &_msg,
                msgs::Boolean &_res);
 
+  /// \brief Callback for a follow pgain request
+  /// \param[in] _msg Request message to set the camera's follow pgain.
+  /// \param[in] _res Response data
+  /// \return True if the request is received
+  public: bool OnFollowPGain(const msgs::Double &_msg,
+               msgs::Boolean &_res);
+
   /// \brief Callback when a move to animation is complete
   private: void OnMoveToComplete();
 
@@ -142,6 +149,9 @@ class CameraTrackingPrivate
   /// \brief Follow offset service
   public: std::string followOffsetService;
 
+  /// \brief Follow offset pgain service
+  public: std::string followPGainService;
+
   /// \brief Camera pose topic
   public: std::string cameraPoseTopic;
 
@@ -206,12 +216,19 @@ void CameraTrackingPrivate::Initialize()
   gzmsg << "Camera pose topic advertised on ["
          << this->cameraPoseTopic << "]" << std::endl;
 
-   // follow offset
-   this->followOffsetService = "/gui/follow/offset";
-   this->node.Advertise(this->followOffsetService,
-       &CameraTrackingPrivate::OnFollowOffset, this);
-   gzmsg << "Follow offset service on ["
-          << this->followOffsetService << "]" << std::endl;
+  // follow offset
+  this->followOffsetService = "/gui/follow/offset";
+  this->node.Advertise(this->followOffsetService,
+      &CameraTrackingPrivate::OnFollowOffset, this);
+  gzmsg << "Follow offset service on ["
+         << this->followOffsetService << "]" << std::endl;
+
+  // follow pgain
+  this->followPGainService = "/gui/follow/pgain";
+  this->node.Advertise(this->followPGainService,
+      &CameraTrackingPrivate::OnFollowPGain, this);
+  gzmsg << "Follow P gain service on ["
+         << this->followPGainService << "]" << std::endl;
 }
 
 /////////////////////////////////////////////////
@@ -263,6 +280,17 @@ bool CameraTrackingPrivate::OnFollowOffset(const msgs::Vector3d &_msg,
   return true;
 }
 
+/////////////////////////////////////////////////
+bool CameraTrackingPrivate::OnFollowPGain(const msgs::Double &_msg,
+  msgs::Boolean &_res)
+{
+  std::lock_guard<std::mutex> lock(this->mutex);
+  this->followPGain = msgs::Convert(_msg);
+
+  _res.set_data(true);
+  return true;
+}
+
 /////////////////////////////////////////////////
 bool CameraTrackingPrivate::OnMoveToPose(const msgs::GUICamera &_msg,
   msgs::Boolean &_res)
diff --git a/src/plugins/camera_tracking/CameraTracking.hh b/src/plugins/camera_tracking/CameraTracking.hh
index 68176e2c5..9748fb21f 100644
--- a/src/plugins/camera_tracking/CameraTracking.hh
+++ b/src/plugins/camera_tracking/CameraTracking.hh
@@ -35,6 +35,7 @@ namespace gz::gui::plugins
   /// * `/gui/move_to/pose`: Move the user camera to a given pose.
   /// * `/gui/follow`: Set the user camera to follow a given target,
   ///                   identified by name.
+  /// * `/gui/follow/pgain`: Set the pgain for following.
   /// * `/gui/follow/offset`: Set the offset for following.
   ///
   /// Topics:
diff --git a/src/plugins/camera_tracking/CameraTracking.qml b/src/plugins/camera_tracking/CameraTracking.qml
index 09c339f0b..07d5c4517 100644
--- a/src/plugins/camera_tracking/CameraTracking.qml
+++ b/src/plugins/camera_tracking/CameraTracking.qml
@@ -29,6 +29,7 @@ ColumnLayout {
       '<li>/gui/move_to</li>' +
       '<li>/gui/move_to/pose</li>' +
       '<li>/gui/follow</li>' +
+      '<li>/gui/follow/pgain</li>' +
       '<li>/gui/follow/offset</li></ul><br>Topics provided:<br><ul>' +
       '<li>/gui/camera/pose</li></ul>'
 
diff --git a/test/integration/camera_tracking.cc b/test/integration/camera_tracking.cc
index 8152437e0..412eafa6e 100644
--- a/test/integration/camera_tracking.cc
+++ b/test/integration/camera_tracking.cc
@@ -186,6 +186,14 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
   EXPECT_TRUE(result);
   EXPECT_TRUE(rep.data());
 
+  msgs::Double reqPGain;
+  reqPGain.set_data(1.0);
+  executed = node.Request("/gui/follow/pgain", reqPGain, timeout, rep,
+      result);
+  EXPECT_TRUE(executed);
+  EXPECT_TRUE(result);
+  EXPECT_TRUE(rep.data());
+
   // Many update loops to process many events
   maxSleep = 600;
   for (auto it : {150.0, 200.0})

From 568545f2622cfc62192bbae223aadb130345b23f Mon Sep 17 00:00:00 2001
From: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date: Fri, 3 Feb 2023 01:32:47 -0500
Subject: [PATCH 2/4] Create Follow Config plugin for camera following.
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Allows for follow camera control set from sdf as well as gui.

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>

Co-authored-by: Jenn Nguyen <jenn@openrobotics.org>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
---
 examples/standalone/scene_provider/README.md  |  24 +-
 src/plugins/CMakeLists.txt                    |   1 +
 src/plugins/camera_tracking/CameraTracking.cc |  10 +-
 src/plugins/camera_tracking/CameraTracking.hh |   2 +-
 .../camera_tracking/CameraTracking.qml        |   2 +-
 src/plugins/follow_config/CMakeLists.txt      |   6 +
 src/plugins/follow_config/FollowConfig.cc     | 265 ++++++++++++++++++
 src/plugins/follow_config/FollowConfig.hh     |  68 +++++
 src/plugins/follow_config/FollowConfig.qml    | 123 ++++++++
 src/plugins/follow_config/FollowConfig.qrc    |   5 +
 test/integration/camera_tracking.cc           |   3 +-
 test/integration/follow_config.cc             | 167 +++++++++++
 12 files changed, 658 insertions(+), 18 deletions(-)
 create mode 100644 src/plugins/follow_config/CMakeLists.txt
 create mode 100644 src/plugins/follow_config/FollowConfig.cc
 create mode 100644 src/plugins/follow_config/FollowConfig.hh
 create mode 100644 src/plugins/follow_config/FollowConfig.qml
 create mode 100644 src/plugins/follow_config/FollowConfig.qrc
 create mode 100644 test/integration/follow_config.cc

diff --git a/examples/standalone/scene_provider/README.md b/examples/standalone/scene_provider/README.md
index 9c6d06291..6a823fab4 100644
--- a/examples/standalone/scene_provider/README.md
+++ b/examples/standalone/scene_provider/README.md
@@ -9,7 +9,7 @@ plugin to update the scene using Gazebo Transport.
 
 ## Build
 
-```
+```bash
 cd examples/standalone/scene_provider
 mkdir build
 cd build
@@ -21,14 +21,14 @@ make
 
 In one terminal, start the scene provider:
 
-```
+```bash
 cd examples/standalone/scene_provider/build
 ./scene_provider
 ```
 
 On another terminal, start the example config:
 
-```
+```bash
 gz gui -c examples/config/scene3d.config
 ```
 
@@ -42,36 +42,36 @@ Some commands to test camera tracking with this demo:
 
 Move to box:
 
-```
+```bash
 gz service -s /gui/move_to --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
 ```
 
 Echo camera pose:
 
-```
+```bash
 gz topic -e -t /gui/camera/pose
 ```
 
 Follow box:
 
-```
+```bash
 gz service -s /gui/follow --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
 ```
 
 Update follow offset:
 
-```
+```bash
 gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 5, y: 5, z: 5'
 ```
 
-Set next follow pgain:
+Set next follow p_gain:
 
-```
-gz service -s /gui/follow/pgain --reqtype gz.msgs.Double --reptype gz.msgs.Boolean --timeout 2000 --req 'data: 1.0'
+```bash
+gz service -s /gui/follow/p_gain --reqtype gz.msgs.Double --reptype gz.msgs.Boolean --timeout 2000 --req 'data: 1.0'
 ```
 
-Update follow offset with new pgain:
+Update follow offset with new p_gain:
 
-```
+```bash
 gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 1, y: 1, z: 5'
 ```
\ No newline at end of file
diff --git a/src/plugins/CMakeLists.txt b/src/plugins/CMakeLists.txt
index 36ede3212..1bccc3f1a 100644
--- a/src/plugins/CMakeLists.txt
+++ b/src/plugins/CMakeLists.txt
@@ -114,6 +114,7 @@ endfunction()
 # Plugins
 add_subdirectory(camera_fps)
 add_subdirectory(camera_tracking)
+add_subdirectory(follow_config)
 add_subdirectory(grid_config)
 add_subdirectory(image_display)
 add_subdirectory(interactive_view_control)
diff --git a/src/plugins/camera_tracking/CameraTracking.cc b/src/plugins/camera_tracking/CameraTracking.cc
index 68033a578..1785e0413 100644
--- a/src/plugins/camera_tracking/CameraTracking.cc
+++ b/src/plugins/camera_tracking/CameraTracking.cc
@@ -1,5 +1,6 @@
 /*
  * Copyright (C) 2021 Open Source Robotics Foundation
+ * Copyright (C) 2023 Rudis Laboratories LLC
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -224,7 +225,7 @@ void CameraTrackingPrivate::Initialize()
          << this->followOffsetService << "]" << std::endl;
 
   // follow pgain
-  this->followPGainService = "/gui/follow/pgain";
+  this->followPGainService = "/gui/follow/p_gain";
   this->node.Advertise(this->followPGainService,
       &CameraTrackingPrivate::OnFollowPGain, this);
   gzmsg << "Follow P gain service on ["
@@ -285,8 +286,11 @@ bool CameraTrackingPrivate::OnFollowPGain(const msgs::Double &_msg,
   msgs::Boolean &_res)
 {
   std::lock_guard<std::mutex> lock(this->mutex);
-  this->followPGain = msgs::Convert(_msg);
-
+  if (!this->followTarget.empty())
+  {
+    this->newFollowOffset = true;
+    this->followPGain = msgs::Convert(_msg);
+  }
   _res.set_data(true);
   return true;
 }
diff --git a/src/plugins/camera_tracking/CameraTracking.hh b/src/plugins/camera_tracking/CameraTracking.hh
index 9748fb21f..e47a5b923 100644
--- a/src/plugins/camera_tracking/CameraTracking.hh
+++ b/src/plugins/camera_tracking/CameraTracking.hh
@@ -35,7 +35,7 @@ namespace gz::gui::plugins
   /// * `/gui/move_to/pose`: Move the user camera to a given pose.
   /// * `/gui/follow`: Set the user camera to follow a given target,
   ///                   identified by name.
-  /// * `/gui/follow/pgain`: Set the pgain for following.
+  /// * `/gui/follow/p_gain`: Set the pgain for following.
   /// * `/gui/follow/offset`: Set the offset for following.
   ///
   /// Topics:
diff --git a/src/plugins/camera_tracking/CameraTracking.qml b/src/plugins/camera_tracking/CameraTracking.qml
index 07d5c4517..dd1749641 100644
--- a/src/plugins/camera_tracking/CameraTracking.qml
+++ b/src/plugins/camera_tracking/CameraTracking.qml
@@ -29,7 +29,7 @@ ColumnLayout {
       '<li>/gui/move_to</li>' +
       '<li>/gui/move_to/pose</li>' +
       '<li>/gui/follow</li>' +
-      '<li>/gui/follow/pgain</li>' +
+      '<li>/gui/follow/p_gain</li>' +
       '<li>/gui/follow/offset</li></ul><br>Topics provided:<br><ul>' +
       '<li>/gui/camera/pose</li></ul>'
 
diff --git a/src/plugins/follow_config/CMakeLists.txt b/src/plugins/follow_config/CMakeLists.txt
new file mode 100644
index 000000000..6710b1174
--- /dev/null
+++ b/src/plugins/follow_config/CMakeLists.txt
@@ -0,0 +1,6 @@
+gz_gui_add_plugin(FollowConfig
+  SOURCES
+    FollowConfig.cc
+  QT_HEADERS
+    FollowConfig.hh
+)
diff --git a/src/plugins/follow_config/FollowConfig.cc b/src/plugins/follow_config/FollowConfig.cc
new file mode 100644
index 000000000..5f88bcd2b
--- /dev/null
+++ b/src/plugins/follow_config/FollowConfig.cc
@@ -0,0 +1,265 @@
+/*
+ * Copyright (C) 2023 Rudis Laboratories LLC
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#include <string>
+
+#include <gz/msgs/double.pb.h>
+#include <gz/msgs/stringmsg.pb.h>
+#include <gz/msgs/vector3d.pb.h>
+
+#include <gz/common/Console.hh>
+#include <gz/msgs/Utility.hh>
+#include <gz/plugin/Register.hh>
+
+#include "gz/gui/Application.hh"
+#include "gz/gui/Conversions.hh"
+#include "gz/gui/GuiEvents.hh"
+#include "gz/gui/MainWindow.hh"
+
+#include <gz/transport/Node.hh>
+
+#include "FollowConfig.hh"
+
+/// \brief Private data class for FollowConfig
+class gz::gui::plugins::FollowConfigPrivate
+{
+  /// \brief Service request topic for follow name
+  public: std::string followTargetNameService;
+
+  /// \brief Service request topic for follow offset
+  public: std::string followOffsetService;
+
+  /// \brief Service request topic for follow p_gain
+  public: std::string followPGainService;
+
+  /// \brief Offset of camera from target being followed
+  public: math::Vector3d followOffset{math::Vector3d(-5.0, 0.0, 3.0)};
+
+  /// \brief Follow P gain
+  public: double followPGain{0.01};
+
+  /// \brief Follow target name from sdf
+  public: std::string followTargetName;
+
+  public: transport::Node node;
+
+  /// \brief Process updated follow name from SDF
+  public: void UpdateFollowTargetName();
+
+  /// \brief Process updated follow offset
+  public: void UpdateFollowOffset();
+
+  /// \brief Process updated P Gain
+  public: void UpdateFollowPGain();
+
+  /// \brief flag for updating target name
+  public: bool newFollowUpdateTargetName = false;
+
+  /// \brief flag for updating P gain
+  public: bool newFollowUpdatePGain = false;
+
+  /// \brief flag for updating offset
+  public: bool newFollowUpdateOffset = false;
+
+};
+
+using namespace gz;
+using namespace gui;
+using namespace plugins;
+
+/////////////////////////////////////////////////
+FollowConfig::FollowConfig()
+  : gz::gui::Plugin(), dataPtr(std::make_unique<FollowConfigPrivate>())
+{
+}
+
+/////////////////////////////////////////////////
+FollowConfig::~FollowConfig() = default;
+
+/////////////////////////////////////////////////
+void FollowConfig::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+{
+  if (this->title.empty())
+    this->title = "Follow Config";
+
+  // Follow target name service
+  this->dataPtr->followTargetNameService = "/gui/follow";
+  gzmsg << "FollowConfig: Follow target name service on ["
+         << this->dataPtr->followTargetNameService << "]" << std::endl;
+
+  // Follow target offset service
+  this->dataPtr->followOffsetService = "/gui/follow/offset";
+  gzmsg << "FollowConfig: Follow offset service on ["
+         << this->dataPtr->followOffsetService << "]" << std::endl;
+
+  // Follow target pgain service
+  this->dataPtr->followPGainService = "/gui/follow/p_gain";
+  gzmsg << "FollowConfig: Follow P gain service on ["
+         << this->dataPtr->followPGainService << "]" << std::endl;
+
+
+  // Read configuration
+  if (_pluginElem)
+  {
+    if (auto nameElem = _pluginElem->FirstChildElement("follow_target"))
+    {
+      this->dataPtr->followTargetName = nameElem->GetText();
+      gzmsg << "FollowConfig: Loaded follow_target from sdf ["
+         << this->dataPtr->followTargetName << "]" << std::endl;
+      this->dataPtr->newFollowUpdateTargetName = true;
+    }
+    if (auto offsetElem = _pluginElem->FirstChildElement("follow_offset"))
+    {
+      std::stringstream offsetStr;
+      offsetStr << std::string(offsetElem->GetText());
+      offsetStr >> this->dataPtr->followOffset;
+      gzmsg << "FollowConfig: Loaded follow_offset from sdf ["
+         << this->dataPtr->followOffset << "]" << std::endl;
+      this->dataPtr->newFollowUpdateOffset = true;
+    }
+    if (auto pGainElem = _pluginElem->FirstChildElement("follow_pgain"))
+    {
+      this->dataPtr->followPGain = std::stod(std::string(pGainElem->GetText()));
+      gzmsg << "FollowConfig: Loaded follow_pgain from sdf ["
+         << this->dataPtr->followPGain << "]" << std::endl;
+      this->dataPtr->newFollowUpdatePGain = true;
+    }
+  }
+
+  gui::App()->findChild<
+      MainWindow *>()->installEventFilter(this);
+}
+
+/////////////////////////////////////////////////
+bool FollowConfig::eventFilter(QObject *_obj, QEvent *_event)
+{
+  if (_event->type() == events::Render::kType)
+  {
+    if (this->dataPtr->newFollowUpdateTargetName)
+    {
+      this->dataPtr->UpdateFollowTargetName();
+    }
+    if (this->dataPtr->newFollowUpdatePGain)
+    {
+      this->dataPtr->UpdateFollowPGain();
+    }
+    if (this->dataPtr->newFollowUpdateOffset)
+    {
+      this->dataPtr->UpdateFollowOffset();
+    }
+  }
+
+  // Standard event processing
+  return QObject::eventFilter(_obj, _event);
+}
+
+/////////////////////////////////////////////////
+void FollowConfig::SetFollowOffset(double _x,
+          double _y, double _z)
+{
+  if (!this->dataPtr->newFollowUpdateOffset)
+  {
+    this->dataPtr->followOffset = math::Vector3d(
+      _x, _y, _z);
+      gzmsg << "FollowConfig: SetFollowOffset("
+        << this->dataPtr->followOffset << ")" << std::endl;
+    this->dataPtr->newFollowUpdateOffset = true;
+  }
+}
+
+/////////////////////////////////////////////////
+void FollowConfig::SetFollowPGain(double _p)
+{
+  if (!this->dataPtr->newFollowUpdatePGain)
+  {
+    this->dataPtr->followPGain = _p;
+    gzmsg << "FollowConfig: SetFollowPGain("
+         << this->dataPtr->followPGain << ")" << std::endl;
+    this->dataPtr->newFollowUpdatePGain = true;
+  }
+}
+
+/////////////////////////////////////////////////
+void FollowConfigPrivate::UpdateFollowTargetName()
+{
+  // Offset
+  std::function<void(const msgs::Boolean &, const bool)> cbName =
+    [&](const msgs::Boolean &/*_rep*/, const bool _resultName)
+  {
+    if (!_resultName)
+    {
+      gzerr << "FollowConfig: Error sending follow target name." << std::endl;
+    } else {
+      gzmsg << "FollowConfig: Request Target Name: "
+            << this->followTargetName << " sent" << std::endl;
+    }
+  };
+
+  msgs::StringMsg reqName;
+  reqName.set_data(this->followTargetName);
+  node.Request(this->followTargetNameService, reqName, cbName);
+  this->newFollowUpdateTargetName = false;
+}
+
+/////////////////////////////////////////////////
+void FollowConfigPrivate::UpdateFollowOffset()
+{
+  // Offset
+  std::function<void(const msgs::Boolean &, const bool)> cbOffset =
+    [&](const msgs::Boolean &/*_rep*/, const bool _resultOffset)
+  {
+    if (!_resultOffset)
+    {
+      gzerr << "FollowConfig: Error sending follow offset." << std::endl;
+    } else {
+      gzmsg << "FollowConfig: Request Offset: "
+            << this->followOffset << " sent" << std::endl;
+    }
+  };
+
+  msgs::Vector3d reqOffset;
+  reqOffset.set_x(this->followOffset.X());
+  reqOffset.set_y(this->followOffset.Y());
+  reqOffset.set_z(this->followOffset.Z());
+  node.Request(this->followOffsetService, reqOffset, cbOffset);
+  this->newFollowUpdateOffset = false;
+}
+
+/////////////////////////////////////////////////
+void FollowConfigPrivate::UpdateFollowPGain()
+{
+  // PGain
+  std::function<void(const msgs::Boolean &, const bool)> cbPGain =
+    [&](const msgs::Boolean &/*_rep*/, const bool _resultPGain)
+  {
+    if (!_resultPGain)
+    {
+      gzerr << "FollowConfig: Error sending follow pgain." << std::endl;
+    } else {
+      gzmsg << "FollowConfig: Request PGain: "
+            << this->followPGain << " sent" << std::endl;
+    }
+  };
+
+  msgs::Double reqPGain;
+  reqPGain.set_data(this->followPGain);
+  node.Request(this->followPGainService, reqPGain, cbPGain);
+  this->newFollowUpdatePGain = false;
+}
+
+// Register this plugin
+GZ_ADD_PLUGIN(FollowConfig,
+              gui::Plugin)
diff --git a/src/plugins/follow_config/FollowConfig.hh b/src/plugins/follow_config/FollowConfig.hh
new file mode 100644
index 000000000..e4f2a02c4
--- /dev/null
+++ b/src/plugins/follow_config/FollowConfig.hh
@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2023 Rudis Laboratories LLC
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GZ_GUI_PLUGINS_FOLLOWCONFIG_HH_
+#define GZ_GUI_PLUGINS_FOLLOWCONFIG_HH_
+
+#include <memory>
+
+#include "gz/gui/Plugin.hh"
+
+namespace gz
+{
+namespace gui
+{
+namespace plugins
+{
+  class FollowConfigPrivate;
+
+  class FollowConfig : public Plugin
+  {
+    Q_OBJECT
+
+    /// \brief Constructor
+    public: FollowConfig();
+
+    /// \brief Destructor
+    public: virtual ~FollowConfig();
+
+    // Documentation inherited
+    public: virtual void LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+        override;
+
+    /// \brief Set the follow offset, requested from the GUI.
+    /// \param[in] _x The follow offset distance in x
+    /// \param[in] _y The follow offset distance in y
+    /// \param[in] _z The follow offset distance in z
+    public slots: void SetFollowOffset(double _x,
+          double _y, double _z);
+
+    /// \brief Set the follow pgain, requested from the GUI.
+    /// \param[in] _p The follow offset distance in x
+    public slots: void SetFollowPGain(double _p);
+
+
+    // Documentation inherited
+    private: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
+    /// \internal
+    /// \brief Pointer to private data.
+    private: std::unique_ptr<FollowConfigPrivate> dataPtr;
+  };
+}
+}
+}
+#endif
diff --git a/src/plugins/follow_config/FollowConfig.qml b/src/plugins/follow_config/FollowConfig.qml
new file mode 100644
index 000000000..f9eff9b9c
--- /dev/null
+++ b/src/plugins/follow_config/FollowConfig.qml
@@ -0,0 +1,123 @@
+/*
+ * Copyright (C) 2023 Rudis Laboratories LLC
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+import QtQuick 2.9
+import QtQuick.Controls 2.2
+import QtQuick.Controls.Material 2.1
+import QtQuick.Controls.Styles 1.4
+import QtQuick.Layouts 1.3
+import gz.gui 1.0
+
+ColumnLayout {
+  Layout.minimumWidth: 200
+  Layout.minimumHeight: 200
+  Layout.margins: 2
+  anchors.fill: parent
+  focus: true
+
+  // X camera follow distance
+  property double xFollowOffset: -5.0
+  // Y camera follow distance
+  property double yFollowOffset: 0.0
+  // Z camera follow distance
+  property double zFollowOffset: 3.0
+  // P Gain camera follow distance
+  property double pGainFollow: 0.01
+
+  GridLayout {
+    Layout.fillWidth: true
+    Layout.margins: 2
+    columns: 2
+  
+    // X follow offset distance
+    Label {
+      id: xFollowOffsetLabel
+      text: "Camera follow X (m)"
+      color: "dimgrey"
+    }
+    GzSpinBox {
+      id: xFollowOffsetField
+      Layout.fillWidth: true
+      value: xFollowOffset
+      maximumValue: 10.0
+      minimumValue: -10.0
+      decimals: 2
+      stepSize: 0.5
+      onEditingFinished:{
+        xFollowOffset = value
+        FollowConfig.SetFollowOffset(xFollowOffset, yFollowOffset, zFollowOffset)
+      }
+    }
+    // Y follow offset distance
+    Label {
+      id: yFollowOffsetLabel
+      text: "Camera follow Y (m)"
+      color: "dimgrey"
+    }
+    GzSpinBox {
+      id: yFollowOffsetField
+      Layout.fillWidth: true
+      value: yFollowOffset
+      maximumValue: 10.0
+      minimumValue: -10.0
+      decimals: 2
+      stepSize: 0.5
+      onEditingFinished:{
+        yFollowOffset = value
+        FollowConfig.SetFollowOffset(xFollowOffset, yFollowOffset, zFollowOffset)
+      }
+    }
+    // Z follow offset distance
+    Label {
+      id: zFollowOffsetLabel
+      text: "Camera follow Z (m)"
+      color: "dimgrey"
+    }
+    GzSpinBox {
+      id: zFollowOffsetField
+      Layout.fillWidth: true
+      value: zFollowOffset
+      maximumValue: 10.0
+      minimumValue: -10.0
+      decimals: 2
+      stepSize: 0.5
+      onEditingFinished:{
+        zFollowOffset = value
+        FollowConfig.SetFollowOffset(xFollowOffset, yFollowOffset, zFollowOffset)
+      }
+    }
+    // P Gain follow
+    Label {
+      id: pGainFollowLabel
+      text: "Camera follow P Gain"
+      color: "dimgrey"
+    }
+    GzSpinBox {
+      id: pGainFollowField
+      Layout.fillWidth: true
+      value: pGainFollow
+      maximumValue: 1.0
+      minimumValue: 0.001
+      decimals: 3
+      stepSize: 0.01
+      onEditingFinished:{
+        pGainFollow = value
+        FollowConfig.SetFollowPGain(pGainFollow)
+      }
+    }
+  }
+}
diff --git a/src/plugins/follow_config/FollowConfig.qrc b/src/plugins/follow_config/FollowConfig.qrc
new file mode 100644
index 000000000..61099f8f1
--- /dev/null
+++ b/src/plugins/follow_config/FollowConfig.qrc
@@ -0,0 +1,5 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource prefix="FollowConfig/">
+  <file>FollowConfig.qml</file>
+</qresource>
+</RCC>
diff --git a/test/integration/camera_tracking.cc b/test/integration/camera_tracking.cc
index 412eafa6e..273be2b30 100644
--- a/test/integration/camera_tracking.cc
+++ b/test/integration/camera_tracking.cc
@@ -18,6 +18,7 @@
 #include <gtest/gtest.h>
 
 #include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/double.pb.h>
 #include <gz/msgs/pose.pb.h>
 #include <gz/msgs/stringmsg.pb.h>
 #include <gz/msgs/vector3d.pb.h>
@@ -188,7 +189,7 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
 
   msgs::Double reqPGain;
   reqPGain.set_data(1.0);
-  executed = node.Request("/gui/follow/pgain", reqPGain, timeout, rep,
+  executed = node.Request("/gui/follow/p_gain", reqPGain, timeout, rep,
       result);
   EXPECT_TRUE(executed);
   EXPECT_TRUE(result);
diff --git a/test/integration/follow_config.cc b/test/integration/follow_config.cc
new file mode 100644
index 000000000..ed30df78c
--- /dev/null
+++ b/test/integration/follow_config.cc
@@ -0,0 +1,167 @@
+/*
+ * Copyright (C) 2023 Rudis Laboratories LLC
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include <gtest/gtest.h>
+
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/double.pb.h>
+#include <gz/msgs/pose.pb.h>
+#include <gz/msgs/stringmsg.pb.h>
+#include <gz/msgs/vector3d.pb.h>
+
+#include <gz/common/Console.hh>
+#include <gz/math/Pose3.hh>
+
+#include <gz/msgs/Utility.hh>
+#include <gz/rendering/Camera.hh>
+#include <gz/rendering/RenderEngine.hh>
+#include <gz/rendering/RenderingIface.hh>
+#include <gz/rendering/Scene.hh>
+#include <gz/transport/Node.hh>
+#include <gz/utils/ExtraTestMacros.hh>
+
+#include "test_config.hh"  // NOLINT(build/include)
+#include "gz/gui/Application.hh"
+#include "gz/gui/GuiEvents.hh"
+#include "gz/gui/Plugin.hh"
+#include "gz/gui/MainWindow.hh"
+
+int g_argc = 1;
+char* g_argv[] =
+{
+  reinterpret_cast<char*>(const_cast<char*>("./follow_config")),
+};
+
+using namespace gz;
+using namespace gui;
+using namespace std::chrono_literals;
+
+/////////////////////////////////////////////////
+TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
+{
+  common::Console::SetVerbosity(4);
+
+  Application app(g_argc, g_argv);
+  app.AddPluginPath(gz::common::joinPaths(
+    std::string(PROJECT_BINARY_PATH), "lib"));
+
+  // Load plugins
+  const char *pluginStr =
+    "<plugin filename=\"MinimalScene\">"
+      "<engine>ogre</engine>"
+      "<scene>banana</scene>"
+      "<ambient_light>1.0 0 0</ambient_light>"
+      "<background_color>0 1 0</background_color>"
+      "<camera_pose>0 0 0 0 0 0</camera_pose>"
+    "</plugin>";
+
+  tinyxml2::XMLDocument pluginDoc;
+  pluginDoc.Parse(pluginStr);
+  EXPECT_TRUE(app.LoadPlugin("MinimalScene",
+      pluginDoc.FirstChildElement("plugin")));
+
+  pluginStr =
+    "<plugin filename=\"CameraTracking\">"
+    "</plugin>";
+
+  pluginDoc.Parse(pluginStr);
+  EXPECT_TRUE(app.LoadPlugin("CameraTracking",
+      pluginDoc.FirstChildElement("plugin")));
+
+  pluginStr =
+    "<plugin filename=\"FollowConfig\">"
+      "<follow_target>track_me</follow_target>"
+      "<follow_offset>0.0 0.0 0.0</follow_offset>"
+      "<follow_pgain>1.0</follow_pgain>"
+    "</plugin>";
+
+  pluginDoc.Parse(pluginStr);
+  EXPECT_TRUE(app.LoadPlugin("FollowConfig",
+      pluginDoc.FirstChildElement("plugin")));
+
+  // Get main window
+  auto win = app.findChild<MainWindow *>();
+  ASSERT_NE(nullptr, win);
+
+  // Get plugin
+  auto plugins = win->findChildren<Plugin *>();
+
+  // Show, but don't exec, so we don't block
+  win->QuickWindow()->show();
+
+  // Get camera pose
+  msgs::Pose poseMsg;
+  auto poseCb = std::function<void(const msgs::Pose &)>(
+      [&](const auto &_msg)
+      {
+        poseMsg = _msg;
+      });
+
+  transport::Node node;
+  node.Subscribe("/gui/camera/pose", poseCb);
+
+  int sleep = 0;
+  int maxSleep = 60;
+  while (!poseMsg.has_position() && sleep++ < maxSleep)
+  {
+    std::this_thread::sleep_for(100ms);
+    QCoreApplication::processEvents();
+  }
+  EXPECT_LT(sleep, maxSleep);
+  EXPECT_TRUE(poseMsg.has_position());
+  EXPECT_TRUE(poseMsg.has_orientation());
+
+  auto engine = rendering::engine("ogre");
+  ASSERT_NE(nullptr, engine);
+
+  auto scene = engine->SceneByName("banana");
+  ASSERT_NE(nullptr, scene);
+
+  auto trackedVis = scene->CreateVisual("track_me");
+  ASSERT_NE(nullptr, trackedVis);
+  trackedVis->SetWorldPose({0, 0, 0, 0, 0, 0});
+
+  auto root = scene->RootVisual();
+  ASSERT_NE(nullptr, root);
+
+  auto camera = std::dynamic_pointer_cast<rendering::Camera>(
+      root->ChildByIndex(0));
+  ASSERT_NE(nullptr, camera);
+
+  msgs::StringMsg req;
+  msgs::Boolean rep;
+  req.set_data("track_me");
+
+  bool result;
+  unsigned int timeout = 2000;
+  bool executed = node.Request("/gui/follow", req, timeout, rep, result);
+  EXPECT_TRUE(executed);
+  EXPECT_TRUE(result);
+  EXPECT_TRUE(rep.data());
+
+  sleep = 0;
+  while (abs(poseMsg.mutable_position()->x()) < .01  && sleep++ < maxSleep)
+  {
+    std::this_thread::sleep_for(100ms);
+    QCoreApplication::processEvents();
+  }
+  EXPECT_LT(sleep, maxSleep);
+
+  EXPECT_NEAR(0.0, abs(poseMsg.mutable_position()->x()), 1.0);
+  EXPECT_NEAR(0.0, abs(poseMsg.mutable_position()->y()), 1.0);
+  EXPECT_NEAR(0.0, abs(poseMsg.mutable_position()->z()), 1.0);
+}

From 91408d85ab8499b30e3071a396e7a3f274e66cdb Mon Sep 17 00:00:00 2001
From: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date: Sun, 7 Jan 2024 13:56:16 -0500
Subject: [PATCH 3/4] Apply suggestions from code review
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

White space cleanup.

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
---
 src/plugins/follow_config/FollowConfig.cc | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/src/plugins/follow_config/FollowConfig.cc b/src/plugins/follow_config/FollowConfig.cc
index 5f88bcd2b..3a30eb183 100644
--- a/src/plugins/follow_config/FollowConfig.cc
+++ b/src/plugins/follow_config/FollowConfig.cc
@@ -98,7 +98,7 @@ void FollowConfig::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
   // Follow target name service
   this->dataPtr->followTargetNameService = "/gui/follow";
   gzmsg << "FollowConfig: Follow target name service on ["
-         << this->dataPtr->followTargetNameService << "]" << std::endl;
+        << this->dataPtr->followTargetNameService << "]" << std::endl;
 
   // Follow target offset service
   this->dataPtr->followOffsetService = "/gui/follow/offset";
@@ -110,7 +110,6 @@ void FollowConfig::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
   gzmsg << "FollowConfig: Follow P gain service on ["
          << this->dataPtr->followPGainService << "]" << std::endl;
 
-
   // Read configuration
   if (_pluginElem)
   {
@@ -118,7 +117,7 @@ void FollowConfig::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
     {
       this->dataPtr->followTargetName = nameElem->GetText();
       gzmsg << "FollowConfig: Loaded follow_target from sdf ["
-         << this->dataPtr->followTargetName << "]" << std::endl;
+            << this->dataPtr->followTargetName << "]" << std::endl;
       this->dataPtr->newFollowUpdateTargetName = true;
     }
     if (auto offsetElem = _pluginElem->FirstChildElement("follow_offset"))
@@ -127,14 +126,14 @@ void FollowConfig::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
       offsetStr << std::string(offsetElem->GetText());
       offsetStr >> this->dataPtr->followOffset;
       gzmsg << "FollowConfig: Loaded follow_offset from sdf ["
-         << this->dataPtr->followOffset << "]" << std::endl;
+            << this->dataPtr->followOffset << "]" << std::endl;
       this->dataPtr->newFollowUpdateOffset = true;
     }
     if (auto pGainElem = _pluginElem->FirstChildElement("follow_pgain"))
     {
       this->dataPtr->followPGain = std::stod(std::string(pGainElem->GetText()));
       gzmsg << "FollowConfig: Loaded follow_pgain from sdf ["
-         << this->dataPtr->followPGain << "]" << std::endl;
+            << this->dataPtr->followPGain << "]" << std::endl;
       this->dataPtr->newFollowUpdatePGain = true;
     }
   }
@@ -174,8 +173,8 @@ void FollowConfig::SetFollowOffset(double _x,
   {
     this->dataPtr->followOffset = math::Vector3d(
       _x, _y, _z);
-      gzmsg << "FollowConfig: SetFollowOffset("
-        << this->dataPtr->followOffset << ")" << std::endl;
+    gzmsg << "FollowConfig: SetFollowOffset("
+          << this->dataPtr->followOffset << ")" << std::endl;
     this->dataPtr->newFollowUpdateOffset = true;
   }
 }

From bea60bd3e352033fa2d061e3f792235f0a02a7de Mon Sep 17 00:00:00 2001
From: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date: Mon, 8 Jan 2024 16:24:01 -0500
Subject: [PATCH 4/4] Allow camera tracking to listen to SDF.

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
---
 src/plugins/camera_tracking/CameraTracking.cc | 29 +++++++-
 src/plugins/follow_config/FollowConfig.cc     | 69 +------------------
 src/plugins/follow_config/FollowConfig.hh     |  2 +-
 test/integration/follow_config.cc             |  6 +-
 4 files changed, 33 insertions(+), 73 deletions(-)

diff --git a/src/plugins/camera_tracking/CameraTracking.cc b/src/plugins/camera_tracking/CameraTracking.cc
index 1785e0413..49e165475 100644
--- a/src/plugins/camera_tracking/CameraTracking.cc
+++ b/src/plugins/camera_tracking/CameraTracking.cc
@@ -481,11 +481,38 @@ CameraTracking::CameraTracking()
 CameraTracking::~CameraTracking() = default;
 
 /////////////////////////////////////////////////
-void CameraTracking::LoadConfig(const tinyxml2::XMLElement *)
+void CameraTracking::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
 {
   if (this->title.empty())
     this->title = "Camera tracking";
 
+  if (_pluginElem)
+  {
+    if (auto nameElem = _pluginElem->FirstChildElement("follow_target"))
+    {
+      this->dataPtr->followTarget = nameElem->GetText();
+      gzmsg << "CameraTracking: Loaded follow_target from sdf ["
+            << this->dataPtr->followTarget << "]" << std::endl;
+      this->dataPtr->followTargetWait = true;
+    }
+    if (auto offsetElem = _pluginElem->FirstChildElement("follow_offset"))
+    {
+      std::stringstream offsetStr;
+      offsetStr << std::string(offsetElem->GetText());
+      offsetStr >> this->dataPtr->followOffset;
+      gzmsg << "FollowConfig: Loaded follow_offset from sdf ["
+            << this->dataPtr->followOffset << "]" << std::endl;
+      this->dataPtr->newFollowOffset = true;
+    }
+    if (auto pGainElem = _pluginElem->FirstChildElement("follow_pgain"))
+    {
+      this->dataPtr->followPGain = std::stod(std::string(pGainElem->GetText()));
+      gzmsg << "FollowConfig: Loaded follow_pgain from sdf ["
+            << this->dataPtr->followPGain << "]" << std::endl;
+      this->dataPtr->newFollowOffset = true;
+    }
+  }
+
   App()->findChild<MainWindow *>()->installEventFilter(this);
 }
 
diff --git a/src/plugins/follow_config/FollowConfig.cc b/src/plugins/follow_config/FollowConfig.cc
index 3a30eb183..fbe46c592 100644
--- a/src/plugins/follow_config/FollowConfig.cc
+++ b/src/plugins/follow_config/FollowConfig.cc
@@ -36,8 +36,6 @@
 /// \brief Private data class for FollowConfig
 class gz::gui::plugins::FollowConfigPrivate
 {
-  /// \brief Service request topic for follow name
-  public: std::string followTargetNameService;
 
   /// \brief Service request topic for follow offset
   public: std::string followOffsetService;
@@ -51,14 +49,8 @@ class gz::gui::plugins::FollowConfigPrivate
   /// \brief Follow P gain
   public: double followPGain{0.01};
 
-  /// \brief Follow target name from sdf
-  public: std::string followTargetName;
-
   public: transport::Node node;
 
-  /// \brief Process updated follow name from SDF
-  public: void UpdateFollowTargetName();
-
   /// \brief Process updated follow offset
   public: void UpdateFollowOffset();
 
@@ -90,16 +82,11 @@ FollowConfig::FollowConfig()
 FollowConfig::~FollowConfig() = default;
 
 /////////////////////////////////////////////////
-void FollowConfig::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+void FollowConfig::LoadConfig(const tinyxml2::XMLElement *)
 {
   if (this->title.empty())
     this->title = "Follow Config";
 
-  // Follow target name service
-  this->dataPtr->followTargetNameService = "/gui/follow";
-  gzmsg << "FollowConfig: Follow target name service on ["
-        << this->dataPtr->followTargetNameService << "]" << std::endl;
-
   // Follow target offset service
   this->dataPtr->followOffsetService = "/gui/follow/offset";
   gzmsg << "FollowConfig: Follow offset service on ["
@@ -110,34 +97,6 @@ void FollowConfig::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
   gzmsg << "FollowConfig: Follow P gain service on ["
          << this->dataPtr->followPGainService << "]" << std::endl;
 
-  // Read configuration
-  if (_pluginElem)
-  {
-    if (auto nameElem = _pluginElem->FirstChildElement("follow_target"))
-    {
-      this->dataPtr->followTargetName = nameElem->GetText();
-      gzmsg << "FollowConfig: Loaded follow_target from sdf ["
-            << this->dataPtr->followTargetName << "]" << std::endl;
-      this->dataPtr->newFollowUpdateTargetName = true;
-    }
-    if (auto offsetElem = _pluginElem->FirstChildElement("follow_offset"))
-    {
-      std::stringstream offsetStr;
-      offsetStr << std::string(offsetElem->GetText());
-      offsetStr >> this->dataPtr->followOffset;
-      gzmsg << "FollowConfig: Loaded follow_offset from sdf ["
-            << this->dataPtr->followOffset << "]" << std::endl;
-      this->dataPtr->newFollowUpdateOffset = true;
-    }
-    if (auto pGainElem = _pluginElem->FirstChildElement("follow_pgain"))
-    {
-      this->dataPtr->followPGain = std::stod(std::string(pGainElem->GetText()));
-      gzmsg << "FollowConfig: Loaded follow_pgain from sdf ["
-            << this->dataPtr->followPGain << "]" << std::endl;
-      this->dataPtr->newFollowUpdatePGain = true;
-    }
-  }
-
   gui::App()->findChild<
       MainWindow *>()->installEventFilter(this);
 }
@@ -147,10 +106,6 @@ bool FollowConfig::eventFilter(QObject *_obj, QEvent *_event)
 {
   if (_event->type() == events::Render::kType)
   {
-    if (this->dataPtr->newFollowUpdateTargetName)
-    {
-      this->dataPtr->UpdateFollowTargetName();
-    }
     if (this->dataPtr->newFollowUpdatePGain)
     {
       this->dataPtr->UpdateFollowPGain();
@@ -191,28 +146,6 @@ void FollowConfig::SetFollowPGain(double _p)
   }
 }
 
-/////////////////////////////////////////////////
-void FollowConfigPrivate::UpdateFollowTargetName()
-{
-  // Offset
-  std::function<void(const msgs::Boolean &, const bool)> cbName =
-    [&](const msgs::Boolean &/*_rep*/, const bool _resultName)
-  {
-    if (!_resultName)
-    {
-      gzerr << "FollowConfig: Error sending follow target name." << std::endl;
-    } else {
-      gzmsg << "FollowConfig: Request Target Name: "
-            << this->followTargetName << " sent" << std::endl;
-    }
-  };
-
-  msgs::StringMsg reqName;
-  reqName.set_data(this->followTargetName);
-  node.Request(this->followTargetNameService, reqName, cbName);
-  this->newFollowUpdateTargetName = false;
-}
-
 /////////////////////////////////////////////////
 void FollowConfigPrivate::UpdateFollowOffset()
 {
diff --git a/src/plugins/follow_config/FollowConfig.hh b/src/plugins/follow_config/FollowConfig.hh
index e4f2a02c4..6fe90f724 100644
--- a/src/plugins/follow_config/FollowConfig.hh
+++ b/src/plugins/follow_config/FollowConfig.hh
@@ -40,7 +40,7 @@ namespace plugins
     public: virtual ~FollowConfig();
 
     // Documentation inherited
-    public: virtual void LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+    public: virtual void LoadConfig(const tinyxml2::XMLElement *)
         override;
 
     /// \brief Set the follow offset, requested from the GUI.
diff --git a/test/integration/follow_config.cc b/test/integration/follow_config.cc
index ed30df78c..c7765699d 100644
--- a/test/integration/follow_config.cc
+++ b/test/integration/follow_config.cc
@@ -76,6 +76,9 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
 
   pluginStr =
     "<plugin filename=\"CameraTracking\">"
+      "<follow_target>track_me</follow_target>"
+      "<follow_offset>0.0 0.0 0.0</follow_offset>"
+      "<follow_pgain>1.0</follow_pgain>"
     "</plugin>";
 
   pluginDoc.Parse(pluginStr);
@@ -84,9 +87,6 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
 
   pluginStr =
     "<plugin filename=\"FollowConfig\">"
-      "<follow_target>track_me</follow_target>"
-      "<follow_offset>0.0 0.0 0.0</follow_offset>"
-      "<follow_pgain>1.0</follow_pgain>"
     "</plugin>";
 
   pluginDoc.Parse(pluginStr);