Ubuntu 22.04
Gazebo: Ignition Fortress
gazebo plugin: 1
Context, I've been trying to get a force sensor plugin working in gazebo fortress, however all the ones I've found are either for gazebo classic, or just fail to run with little documentation (an issue that plagues a lot of modern gazebo imo).
my next solution was to create a custom plugin that solved my needs.
Currently I've created the example system plugin following the Gazebo API guides [on creating system plugins](https://gazebosim.org/api/gazebo/6/createsystemplugins.html). and after spending some time figuring out that you need to set the [gazebo plugin path](https://gazebosim.org/api/gazebo/6/resources.html) I've got a plugin that builds in cmake correctly and is loaded by gazebo. however once it loads it prevents the scene from being created, leaving me with a blank window.
Here are the relevant files
## World file (including plugin)
0.001 1 1000 https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Ground Plane 0 0 0 6e-06 2.3e-05 -4.2e-05 0.4 0.4 0.4 1 0.7 0.7 0.7 1 true 0 0 10 0 -0 0 true 1 -0.5 0.1 -0.9 0.8 0.8 0.8 1 0.2 0.2 0.2 1 1000 0.01 0.90000000000000002 0.001 0 0 0
#include
namespace sample_system
{
class SampleSystem: public ignition::gazebo::System,
public ignition::gazebo::ISystemPostUpdate,
// public ignition::gazebo::ISystemPreUpdate,
// public ignition::gazebo::ISystemUpdate,
public ignition::gazebo::ISystemConfigure
{
public:
SampleSystem();
~SampleSystem() override;
void PostUpdate(const ignition::gazebo::UpdateInfo &_info, const ignition::gazebo::EntityComponentManager &_ecm) override;
// void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override;
// void Update(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override;
void Configure(const ignition::gazebo::Entity &_entity,
const std::shared_ptr& _sdf,
ignition::gazebo::EntityComponentManager &_ecm,
ignition::gazebo::EventManager &/*_eventMgr*/);
private:
ignition::gazebo::Entity linkEntity;
};
}
IGNITION_ADD_PLUGIN(
sample_system::SampleSystem,
ignition::gazebo::System,
// sample_system::SampleSystem::ISystemPreUpdate,
// sample_system::SampleSystem::ISystemUpdate,
sample_system::SampleSystem::ISystemPostUpdate
)
IGNITION_ADD_PLUGIN_ALIAS(sample_system::SampleSystem,"ignition::gazebo::systems::SampleSystem")
#endif
## Gazebo_Plugin.cpp:
#include "gazebo_system_plugin.hpp"
#include
#include
using namespace sample_system;
using namespace ignition::gazebo::v6;
SampleSystem::SampleSystem(){
}
SampleSystem::~SampleSystem(){
}
void SampleSystem::Configure(const Entity &_entity,
const std::shared_ptr& _sdf,
EntityComponentManager &_ecm,
EventManager &/*_eventMgr*/
){
}
void SampleSystem::PostUpdate(const UpdateInfo &_info,
const EntityComponentManager &_ecm){
// ignmsg << "SampleSystem::PostUpdate - " << _info.simTime.count() << std::endl;
// I have commented this out so that the gazeob output is legible
}
## CMakeList.txt:
cmake_minimum_required(VERSION 3.10.2)
project(gazebo_plugins)
# find_package(ament_cmake REQUIRED)
set(IGN_CMAKE_VER 2)
set(IGN_PLUGIN_VER 1)
set(IGN_COMMON_VER 3)
set(IGN_GAZEBO_VER 6)
find_package(ignition-cmake${IGN_CMAKE_VER} REQUIRED)
ign_find_package(ignition-plugin${IGN_PLUGIN_VER} REQUIRED COMPONENTS register)
ign_find_package(ignition-common${IGN_COMMON_VER} REQUIRED)
ign_find_package(ignition-gazebo${IGN_GAZEBO_VER} REQUIRED)
add_library(SampleSystem gazebo_system_plugin.cpp gazebo_system_plugin.hpp)
set_property(TARGET SampleSystem PROPERTY CXX_STANDARD 17)
target_link_libraries(SampleSystem
PRIVATE ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
PRIVATE ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}
)
ign_configure_project()
Heres the verbose gazebo output while this is going on
ign gazebo custom_plugin.world -v 4
[Msg] Ignition Gazebo GUI v6.11.0
[Dbg] [ign.cc:161] Subscribing to [/gazebo/starting_world].
[Dbg] [ign.cc:163] Waiting for a world to be set from the GUI...
[Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]...
[Msg] Received world [custom_plugin.world] from the GUI.
[Dbg] [ign.cc:167] Unsubscribing from [/gazebo/starting_world].
[Msg] Ignition Gazebo Server v6.11.0
Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[Msg] Loading SDF world file[/home/sperospace/Git/Robotic_Arm/01_Prototypes/03_Gecko/04_simulation/simulation_packages/src/environments/worlds/custom_plugin.world].
[Dbg] [Application.cc:92] Initializing application.
[GUI] [Dbg] [Application.cc:555] Create main window
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [SystemManager.cc:58] Loaded system [sample_system::SampleSystem] for entity [1]
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control]
[Msg] Serving GUI information on [/world/default/gui/info]
[Msg] World [default] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/default/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:241:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[GUI] [Dbg] [Gui.cc:391] Requesting GUI from [/world/default/gui/info]...
[GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/default/state]...
[GUI] [Msg] Loading config [/home/sperospace/.ignition/gazebo/6/gui.config]
[GUI] [Dbg] [Application.cc:426] Loading plugin [MinimalScene]
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [EntityContextMenuPlugin]
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity Context Menu] to main window
[GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [GzSceneManager]
[GUI] [Msg] Added plugin [Scene Manager] to main window
[GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [InteractiveViewControl]
[GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[GUI] [Msg] Added plugin [Interactive view control] to main window
[GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [CameraTracking]
[GUI] [Msg] Added plugin [Camera tracking] to main window
[GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [MarkerManager]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Msg] Added plugin [Marker Manager] to main window
[GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [SelectEntities]
[GUI] [Msg] Added plugin [Select entities] to main window
[GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Spawn]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Msg] Added plugin [Spawn] to main window
[GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [VisualizationCapabilities]
[GUI] [Msg] View as transparent service on [/gui/view/transparent]
[GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[GUI] [Msg] View center of mass service on [/gui/view/com]
[GUI] [Msg] View inertia service on [/gui/view/inertia]
[GUI] [Msg] View collisions service on [/gui/view/collisions]
[GUI] [Msg] View joints service on [/gui/view/joints]
[GUI] [Msg] View frames service on [/gui/view/frames]
[GUI] [Msg] Added plugin [Visualization capabilities] to main window
[GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl]
[GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Msg] Using world control service [/world/default/control]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes]
[GUI] [Msg] Added plugin [Shapes] to main window
[GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Lights]
[GUI] [Msg] Added plugin [Lights] to main window
[GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl]
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Dbg] [TransformControl.cc:219] Legacy mode is disabled; this plugin must be used with MinimalScene.
[GUI] [Msg] Added plugin [Transform control] to main window
[GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Screenshot]
[GUI] [Msg] Screenshot service on [/gui/screenshot]
[GUI] [Msg] Added plugin [Screenshot] to main window
[GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libScreenshot.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [CopyPaste]
[GUI] [Msg] Added plugin [Copy/Paste] to main window
[GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [ComponentInspector]
[GUI] [Msg] Added plugin [Component inspector] to main window
[GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [EntityTree]
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity tree] to main window
[GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so]
[GUI] [Dbg] [Application.cc:296] Loading window config
[GUI] [Msg] Using server control service [/server_control]
[GUI] [Dbg] [Application.cc:569] Applying config
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [MinimalScene.cc:560] Create scene [scene]
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:491] Creating PostUpdate worker threads: 2
[Dbg] [SimulationRunner.cc:502] Creating postupdate worker thread (0)
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [TransformControl.cc:528] TransformControl plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [Spawn.cc:289] Spawn plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [SelectEntities.cc:451] SelectEntities plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [MarkerManager.cc:173] Advertise /marker/list service.
[GUI] [Dbg] [MarkerManager.cc:183] Advertise /marker/list.
[GUI] [Dbg] [MarkerManager.cc:193] Advertise /marker_array.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [CameraTracking.cc:181] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Move to service on [/gui/move_to]
[GUI] [Msg] Follow service on [/gui/follow]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] Follow offset service on [/gui/follow/offset]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [InteractiveViewControl.cc:130] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
I will also provide an example of what happens when i remove the reference to the plugin from the world file
ign gazebo custom_plugin.world -v 4
[Msg] Ignition Gazebo GUI v6.11.0
[Dbg] [ign.cc:161] Subscribing to [/gazebo/starting_world].
[Dbg] [ign.cc:163] Waiting for a world to be set from the GUI...
[Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]...
[Msg] Received world [custom_plugin.world] from the GUI.
[Dbg] [ign.cc:167] Unsubscribing from [/gazebo/starting_world].
[Msg] Ignition Gazebo Server v6.11.0
Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[Msg] Loading SDF world file[/home/sperospace/Git/Robotic_Arm/01_Prototypes/03_Gecko/04_simulation/simulation_packages/src/environments/worlds/custom_plugin.world].
[Dbg] [Application.cc:92] Initializing application.
[GUI] [Dbg] [Application.cc:555] Create main window
[Msg] Serving entity system service on [/entity/system/add]
[Msg] Loaded level [3]
[Msg] No systems loaded from SDF, loading defaults
[Dbg] [ServerConfig.cc:1027] Loaded (3) plugins from file [/home/sperospace/.ignition/gazebo/6/server.config]
[Dbg] [Physics.cc:803] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:58] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[Msg] Create service on [/world/default/create]
[Msg] Remove service on [/world/default/remove]
[Msg] Pose service on [/world/default/set_pose]
[Msg] Pose service on [/world/default/set_pose_vector]
[Msg] Light configuration service on [/world/default/light_config]
[Msg] Physics service on [/world/default/set_physics]
[Msg] SphericalCoordinates service on [/world/default/set_spherical_coordinates]
[Msg] Enable collision service on [/world/default/enable_collision]
[Msg] Disable collision service on [/world/default/disable_collision]
[Msg] Material service on [/world/default/visual_config]
[Msg] Material service on [/world/default/wheel_slip]
[Dbg] [SystemManager.cc:58] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:58] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control]
[Msg] Serving GUI information on [/world/default/gui/info]
[Msg] World [default] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/default/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:241:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[GUI] [Dbg] [Gui.cc:391] Requesting GUI from [/world/default/gui/info]...
[GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/default/state]...
[GUI] [Msg] Loading config [/home/sperospace/.ignition/gazebo/6/gui.config]
[GUI] [Dbg] [Application.cc:426] Loading plugin [MinimalScene]
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [EntityContextMenuPlugin]
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity Context Menu] to main window
[GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [GzSceneManager]
[GUI] [Msg] Added plugin [Scene Manager] to main window
[GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [InteractiveViewControl]
[GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[GUI] [Msg] Added plugin [Interactive view control] to main window
[GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [CameraTracking]
[GUI] [Msg] Added plugin [Camera tracking] to main window
[GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [MarkerManager]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Msg] Added plugin [Marker Manager] to main window
[GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [SelectEntities]
[GUI] [Msg] Added plugin [Select entities] to main window
[GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Spawn]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Msg] Added plugin [Spawn] to main window
[GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [VisualizationCapabilities]
[GUI] [Msg] View as transparent service on [/gui/view/transparent]
[GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[GUI] [Msg] View center of mass service on [/gui/view/com]
[GUI] [Msg] View inertia service on [/gui/view/inertia]
[GUI] [Msg] View collisions service on [/gui/view/collisions]
[GUI] [Msg] View joints service on [/gui/view/joints]
[GUI] [Msg] View frames service on [/gui/view/frames]
[GUI] [Msg] Added plugin [Visualization capabilities] to main window
[GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl]
[GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Msg] Using world control service [/world/default/control]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes]
[GUI] [Msg] Added plugin [Shapes] to main window
[GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Lights]
[GUI] [Msg] Added plugin [Lights] to main window
[GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl]
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo() { ... }
[GUI] [Dbg] [TransformControl.cc:219] Legacy mode is disabled; this plugin must be used with MinimalScene.
[GUI] [Msg] Added plugin [Transform control] to main window
[GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Screenshot]
[GUI] [Msg] Screenshot service on [/gui/screenshot]
[GUI] [Msg] Added plugin [Screenshot] to main window
[GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libScreenshot.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [CopyPaste]
[GUI] [Msg] Added plugin [Copy/Paste] to main window
[GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [ComponentInspector]
[GUI] [Msg] Added plugin [Component inspector] to main window
[GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [EntityTree]
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity tree] to main window
[GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so]
[GUI] [Dbg] [Application.cc:296] Loading window config
[GUI] [Msg] Using server control service [/server_control]
[GUI] [Dbg] [Application.cc:569] Applying config
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [MinimalScene.cc:560] Create scene [scene]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [TransformControl.cc:528] TransformControl plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [Spawn.cc:289] Spawn plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [SelectEntities.cc:451] SelectEntities plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [MarkerManager.cc:173] Advertise /marker/list service.
[GUI] [Dbg] [MarkerManager.cc:183] Advertise /marker/list.
[GUI] [Dbg] [MarkerManager.cc:193] Advertise /marker_array.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [CameraTracking.cc:181] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Move to service on [/gui/move_to]
[GUI] [Msg] Follow service on [/gui/follow]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] Follow offset service on [/gui/follow/offset]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [InteractiveViewControl.cc:130] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:491] Creating PostUpdate worker threads: 2
[Dbg] [SimulationRunner.cc:502] Creating postupdate worker thread (0)
[Msg] Serving scene information on [/world/default/scene/info]
[Msg] Serving graph information on [/world/default/scene/graph]
[Msg] Serving full state on [/world/default/state]
[Msg] Serving full state (async) on [/world/default/state_async]
[Msg] Publishing scene information on [/world/default/scene/info]
[Msg] Publishing entity deletions on [/world/default/scene/deletion]
[Msg] Publishing state changes on [/world/default/state]
[Msg] Publishing pose messages on [/world/default/pose/info]
[Msg] Publishing dynamic pose messages on [/world/default/dynamic_pose/info]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[Dbg] [EntityComponentManager.cc:1587] Updated state thread iterators: 8 threads processing around 1 entities each.
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have `operator<<`. Component will not be serialized.
[GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized.
from what i can see the only difference between the Two is this line, that gazebo doesn't reach when it has the plugin enabled.
[Dbg] [EntityComponentManager.cc:1587] Updated state thread iterators: 8 threads processing around 1 entities each.
Here is an image of what gazebo looks like when the plugin is run in the world file:
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