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Add gazebo_ros_state plugin #209

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Add gazebo_ros_state plugin #209

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7 changes: 7 additions & 0 deletions turtlebot3_gazebo/worlds/empty_world.world
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Original file line number Diff line number Diff line change
@@ -1,6 +1,13 @@
<?xml version="1.0"?>
<sdf version="1.6">
<world name="default">
<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>

<update_rate>1.0</update_rate>
</plugin>

<include>
<uri>model://ground_plane</uri>
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8 changes: 7 additions & 1 deletion turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
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Original file line number Diff line number Diff line change
@@ -1,6 +1,12 @@
<?xml version="1.0"?>
<sdf version="1.6">
<world name="default">
<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
<update_rate>1.0</update_rate>
</plugin>

<include>
<uri>model://ground_plane</uri>
Expand Down Expand Up @@ -42,7 +48,7 @@
</constraints>
</ode>
</physics>

<model name="turtlebot3_dqn_world">
<static>1</static>
<include>
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6 changes: 6 additions & 0 deletions turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,12 @@
<?xml version="1.0"?>
<sdf version="1.6">
<world name="default">
<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
<update_rate>1.0</update_rate>
</plugin>

<include>
<uri>model://ground_plane</uri>
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6 changes: 6 additions & 0 deletions turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,12 @@
<?xml version="1.0"?>
<sdf version="1.6">
<world name="default">
<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
<update_rate>1.0</update_rate>
</plugin>

<include>
<uri>model://ground_plane</uri>
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8 changes: 7 additions & 1 deletion turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,12 @@
<?xml version="1.0"?>
<sdf version="1.6">
<world name="default">
<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
<update_rate>1.0</update_rate>
</plugin>

<include>
<uri>model://ground_plane</uri>
Expand Down Expand Up @@ -62,7 +68,7 @@
<uri>model://turtlebot3_dqn_world/obstacle1</uri>
</include>
</model>

<model name="turtlebot3_dqn_obstacle2">
<plugin name="obstacle2" filename="libobstacle2.so"/>
<include>
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6 changes: 6 additions & 0 deletions turtlebot3_gazebo/worlds/turtlebot3_house.world
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Original file line number Diff line number Diff line change
@@ -1,6 +1,12 @@
<?xml version="1.0"?>
<sdf version="1.6">
<world name="default">
<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
<update_rate>1.0</update_rate>
</plugin>

<include>
<uri>model://ground_plane</uri>
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6 changes: 6 additions & 0 deletions turtlebot3_gazebo/worlds/turtlebot3_world.world
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,12 @@
<?xml version="1.0"?>
<sdf version="1.6">
<world name="default">
<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
<ros>
<namespace>/gazebo</namespace>
</ros>
<update_rate>1.0</update_rate>
</plugin>

<include>
<uri>model://ground_plane</uri>
Expand Down