New system plugin called DriveToPoseController (backport #2679)
#2939
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
New system plugin to gz-sim called DriveToPoseController: This controller receives a target pose in the Gazebo coordinate system on /cmd_pose topic and calculates and publishes a command velocity on /cmd_vel topic to move the robot towards the target. --------- Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
9 tasks
sauk2
reviewed
Jun 6, 2025
Comment on lines
+151
to
+154
| <plugin | ||
| filename="gz-sim-physics-system" | ||
| name="gz::sim::systems::Physics"> | ||
| </plugin> |
There was a problem hiding this comment.
When I ran the example, Gazebo launched successfully and the UI loaded but the simulation area remained blank. I found that removing this plugin block from the world file resolved the issue. Not sure why this happened or if it was just an isolated issue on my end, but thought it was worth mentioning.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
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
2F2C
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Outdated suggestions cannot be applied.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 system plugin to gz-sim called DriveToPoseController
Backport #2679 to Harmonic