Merge abbb007 into faaa3ec

Migration.md

@@ -5,6 +5,13 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition Gazebo 6.x to 7.0 
+
+* **Deprecated**
+ + The `ParticleEmitter2` system was renamed to `ParticleEmitter`. The
+ `ParticleEmitter2` system is now deprecated. Please use the
+ `ParticleEmitter` system. 
+
 ## Ignition Gazebo 6.1 to 6.2
 
 * If no `<namespace>` is given to the `Thruster` plugin, the namespace now

examples/worlds/multi_lrauv_race.sdf

@@ -38,12 +38,9 @@
  <uniform_fluid_density>1000</uniform_fluid_density>
  </plugin>
 
- <!-- Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied
- to ParticleEmitter in Ignition G.
- See https:/ignitionrobotics/ign-gazebo/pull/730 -->
  <plugin
- filename="ignition-gazebo-particle-emitter2-system"
- name="ignition::gazebo::systems::ParticleEmitter2">
+ filename="ignition-gazebo-particle-emitter-system"
+ name="ignition::gazebo::systems::ParticleEmitter">
  </plugin>
 
  <light type="directional" name="sun">
@@ -60,9 +57,6 @@
  <direction>-0.5 0.1 -0.9</direction>
  </light>
 
- <!-- Requires ParticleEmitter2 in ign-gazebo 4.8.0, which will be copied
- to ParticleEmitter in Ignition G.
- See https:/ignitionrobotics/ign-gazebo/pull/730 -->
  <include>
  <pose>-5 0 0 0 0 0</pose>
  <uri>https://fuel.ignitionrobotics.org/1.0/mabel/models/Turquoise turbidity generator</uri>

examples/worlds/particle_emitter.sdf

@@ -1,10 +1,5 @@
 <?xml version="1.0" ?>
 
-<!-- NOTE: This world uses a particle emitter that is implemented as
- a plugin. We recommend using particle emitters based on the SDF
- specification. See the test/worlds/particle_emitter2.sdf example.
--->
-
 <!--
  Launch this example with:
 
@@ -14,15 +9,15 @@
 
  To disable the particle emitter:
 
- ign topic -t /model/smoke_generator/particle_emitter/smoke_generator -m ignition.msgs.ParticleEmitter -p 'name: "smoke_generator" pose { position { } orientation { w: 1 } } size { x: 1 y: 1 z: 1 } rate: 10 emitting: false particle_size { x: 1 y: 1 z: 1 } lifetime: 2 material { header { data { key: "double_sided" value: "0" } } ambient { a: 1 } diffuse { r: 0.7 g: 0.7 b: 0.7 a: 1 } specular { a: 1 } emissive { a: 1 } lighting: true pbr { type: METAL albedo_map: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smoke.png" metalness: 0.5 roughness: 0.5 } } min_velocity: 10 max_velocity: 20 color_start { r: 1 g: 1 b: 1 a: 1 } color_end { r: 1 g: 1 b: 1 a: 1 } scale_rate: 10 color_range_image: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smokecolors.png"'
+ ign topic -t /model/fog_generator/link/fog_link/particle_emitter/emitter/cmd -m ignition.msgs.ParticleEmitter -p 'emitting: {data: false}'
 
  Enable back the particle emitter:
 
- ign topic -t /model/smoke_generator/particle_emitter/smoke_generator -m ignition.msgs.ParticleEmitter -p 'name: "smoke_generator" pose { position { } orientation { w: 1 } } size { x: 1 y: 1 z: 1 } rate: 10 emitting: true particle_size { x: 1 y: 1 z: 1 } lifetime: 2 material { header { data { key: "double_sided" value: "0" } } ambient { a: 1 } diffuse { r: 0.7 g: 0.7 b: 0.7 a: 1 } specular { a: 1 } emissive { a: 1 } lighting: true pbr { type: METAL albedo_map: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smoke.png" metalness: 0.5 roughness: 0.5 } } min_velocity: 10 max_velocity: 20 color_start { r: 1 g: 1 b: 1 a: 1 } color_end { r: 1 g: 1 b: 1 a: 1 } scale_rate: 10 color_range_image: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smokecolors.png"'
+ ign topic -t /model/fog_generator/link/fog_link/particle_emitter/emitter/cmd -m ignition.msgs.ParticleEmitter -p 'emitting: {data: true}'
 
  Then, change the particle rate:
 
- ign topic -t /model/smoke_generator/particle_emitter/smoke_generator -m ignition.msgs.ParticleEmitter -p 'name: "smoke_generator" pose { position { } orientation { w: 1 } } size { x: 1 y: 1 z: 1 } rate: 100 emitting: true particle_size { x: 1 y: 1 z: 1 } lifetime: 2 material { header { data { key: "double_sided" value: "0" } } ambient { a: 1 } diffuse { r: 0.7 g: 0.7 b: 0.7 a: 1 } specular { a: 1 } emissive { a: 1 } lighting: true pbr { type: METAL albedo_map: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smoke.png" metalness: 0.5 roughness: 0.5 } } min_velocity: 10 max_velocity: 20 color_start { r: 1 g: 1 b: 1 a: 1 } color_end { r: 1 g: 1 b: 1 a: 1 } scale_rate: 10 color_range_image: "/home/caguero/.ignition/fuel/fuel.ignitionrobotics.org/caguero/models/smoke_generator/2/materials/textures/smokecolors.png"'
+ ign topic -t /model/fog_generator/link/fog_link/particle_emitter/emitter/cmd -m ignition.msgs.ParticleEmitter -p 'rate: {data: 100}'
 -->
 
 <sdf version="1.6">
@@ -35,6 +30,8 @@
  <plugin
  filename="ignition-gazebo-physics-system"
  name="ignition::gazebo::systems::Physics">
+ <!-- Use TPE in order to use nested models -->
+ <engine><filename>libignition-physics-tpe-plugin.so</filename></engine>
  </plugin>
  <plugin
  filename="ignition-gazebo-user-commands-system"
@@ -44,6 +41,10 @@
  filename="ignition-gazebo-scene-broadcaster-system"
  name="ignition::gazebo::systems::SceneBroadcaster">
  </plugin>
+ <plugin
+ filename="ignition-gazebo-particle-emitter-system"
+ name="ignition::gazebo::systems::ParticleEmitter">
+ </plugin>
 
  <light type="directional" name="sun">
  <cast_shadows>true</cast_shadows>
@@ -86,10 +87,33 @@
  </model>
 
  <include>
- <uri>https://fuel.ignitionrobotics.org/1.0/caguero/models/smoke_generator</uri>
+ <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/fog generator</uri>
  </include>
 
- </world>
-</sdf>
-
+ <!-- Nested model example, where the particles are bright red
+ billboards -->
+ <model name="nested">
+ <static>true</static>
+ <pose>20 20 0 0 0 0</pose>
+ <model name="fog_generator">
+ <link name="fog_link_nested">
+ <particle_emitter name="emitter" type="box">
+ <emitting>true</emitting>
+ <size>10 10 0</size>
+ <particle_size>1 1 1</particle_size>
+ <lifetime>25</lifetime>
+ <min_velocity>0.1</min_velocity>
+ <max_velocity>0.2</max_velocity>
+ <scale_rate>0.5</scale_rate>
+ <rate>5</rate>
+ <material>
+ <diffuse>1.0 0.0 0.0</diffuse>
+ <specular>1.0 0.0 0.0</specular>
+ </material>
+ </particle_emitter>
+ </link>
+ </model>
+ </model>
 
+</world>
+</sdf>