Merge branch 'gz-sim9' into athenaz/texsize_tutorial

README.md

@@ -99,29 +99,14 @@ gz sim -h
 In the event that the installation is a mix of Debian and from source, command
 line tools from `gz-tools` may not work correctly.
 
-A workaround for a single package is to define the environment variable
-`GZ_CONFIG_PATH` to point to the location of the Gazebo library installation,
-where the YAML file for the package is found, such as
+A workaround is to define the environment variable
+`GZ_CONFIG_PATH` to point to the different locations of the Gazebo libraries installations,
+where the YAML files for the packages are found, such as
 ```
-export GZ_CONFIG_PATH=/usr/local/share/gz
+export GZ_CONFIG_PATH=/usr/local/share/gz:$HOME/ws/install/share/gz
 ```
 
-However, that environment variable only takes a single path, which means if the
-installations from source are in different locations, only one can be specified.
-
-Another workaround for working with multiple Gazebo libraries on the command
-line is using symbolic links to each library's YAML file.
-```
-mkdir ~/.gz/tools/configs -p
-cd ~/.gz/tools/configs/
-ln -s /usr/local/share/gz/fuel8.yaml .
-ln -s /usr/local/share/gz/transport14.yaml .
-ln -s /usr/local/share/gz/transportlog13.yaml .
-...
-export GZ_CONFIG_PATH=$HOME/.gz/tools/configs
-```
-
-This issue is tracked [here](https://github.com/gazebosim/gz-tools/issues/8).
+where `$HOME/ws` is an example colcon workspace used to build Gazebo
 
 # Documentation
 

tutorials/adding_system_plugins.md

@@ -18,7 +18,7 @@ to create the vehicle used in this tutorial.
 
 # Adding a system plugin
 
-[This Gazebo tutorial](https://gazebosim.org/api/sim/8/createsystemplugins.html)
+[This Gazebo tutorial](https://gazebosim.org/api/sim/9/createsystemplugins.html)
 describes what is a system plugin in depth. Intuitively, you can envision a
 system plugin as a piece of code that modifies the behavior of the simulation
 when the general physics engine does not exactly capture your needs.
@@ -46,7 +46,7 @@ your turtle does not sink anymore.
 
 ```bash
 mkdir -p ~/gazebo_maritime/worlds
-wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf
+wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf
 export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models
 gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf
 ```
@@ -130,7 +130,7 @@ And run Gazebo:
 gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf
 ```
 
-Now, when our simple trajectory controller reaches its target and stops appling
+Now, when our simple trajectory controller reaches its target and stops applying
 force, the turtle stops moving acting like the fluid decelerates its motion.
 Additionally you can notice how the up and down oscillations are also damped by
 the effect of the hydrodynamics.