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move platform sdf into string

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rather than untracked sdf file in gz submodule.
This commit is contained in:
Balduin 2025-02-28 09:10:36 +01:00
parent 10b2321e87
commit a4894bde07
1 changed files with 57 additions and 3 deletions
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60
src/modules/simulation/gz_bridge/GZBridge.cpp
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@ -315,11 +315,65 @@ bool GZBridge::createMovingPlatform()
// moving platform to launch & land from.
gz::msgs::EntityFactory req{};
// base dir: Tools/simulation/gz/models
req.set_sdf_filename("platform.sdf");
// can also set sdf string directly using req.set_sdf
// https://gazebosim.org/api/gazebo/6/entity_creation.html
// This just as a first hacky quick solution.
// Surely there is a good place for such a file without putting it in the gz repo?
std::string platform_sdf = R""""(
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="flat_platform">
<!-- Link representing the flat platform -->
<link name="platform_link">
<!-- Visual properties -->
<visual name="platform_visual">
<geometry>
<box>
<size>5 5 0.1</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
</material>
</visual>
<!-- Collision properties -->
<collision name="platform_collision">
<geometry>
<box>
<size>5 5 0.1</size>
</box> shit
</geometry>
</collision>
<!-- Inertial properties (irrelevant, but required) -->
<inertial>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<iyy>1</iyy>
<izz>1</izz>
</inertia>
</inertial>
<!-- Sensor to measure the position of the platform -->
<sensor name="navsat_sensor" type="navsat">
<always_on>1</always_on>
<update_rate>30</update_rate>
</sensor>
</link>
</model>
</sdf>
)"""";
req.set_sdf(platform_sdf);
// base dir: Tools/simulation/gz/models
// req.set_sdf_filename("platform.sdf");
// req.set_name("platform");
req.set_allow_renaming(false);