Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
🎉 New feature
Summary
I needed a convenient way of applying forces to models without a plugin, so I thought I'd add a system that exposes a topic for applying wrenches to links.
The idea is similar to Gazebo classic's
~/scoped/link/name/wrench
topic, but here there's a single topic for the entire world, and the exact entity is defined in the message. This way, we don't pollute the topic space, allow different ways of choosing entities (by ID, by type, etc), and don't need to instantiate the plugin for each entity.I needed to add a few different things to implement this plugin. I'll break this into smaller PRs for each functionality, adding tests as needed.
Test it
Try the example world:
With example commands, i.e.
Checklist
codecheck
passed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-by
messages.🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸