Wheelslip plugin parameter addition #2518
Draft
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🎉 New feature
Helps with #1845
Summary
Adds parameter change functionality using the gz param to the wheel slip system plugin. This is in preparation to be able to write a working tutorial that is described in this #1845. This PR is based on the associated branch of that issue namely ign-gazebo6...ivanpauno/parameters-component-wheel-slip-demo6 from @ivanpauno but adjusted for gz-sim8
Test it
I've based these instructions on the instructions given in #1845 by scpeters adjusted to gz-sim8
Launch the trisphere cycle world
Another parameter check out the available parameters:
Expected outcome
Get the parameter of one of the wheels of the tricycles
Expected outcome
Set one parameter to a different number:
Expected outcome
Check the parameter again:
Expected outcome
Remaining Questions.
I've put the PR into draft for now as there are a couple things to solve first or what I need help with:
Message (gz.msgs.WheelSlipParametersCmd) was retrieved with non-fully qualified name. This behavior is deprecated in msgs10
// TODO(ivanpauno): WHY THE SCOPED NAME CHANGES BETWEEN HERE AND // ConfigureParameters()? // Here the scoped name starts with "wheel_slip." // In `ConfigureParameters()` that doesn't happen
Checklist
codecheck
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