From 9cf4b99fcbfbb89e19a0e26c556812c630a3a389 Mon Sep 17 00:00:00 2001 From: Gilbert Tanner Date: Mon, 30 Dec 2024 10:31:07 +0100 Subject: [PATCH] Removed some typos from Gazebo Classic migration guide Signed-off-by: Gilbert Tanner --- migrating_gazebo_classic_ros2_packages.md | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/migrating_gazebo_classic_ros2_packages.md b/migrating_gazebo_classic_ros2_packages.md index 0069928e7..a5975c510 100644 --- a/migrating_gazebo_classic_ros2_packages.md +++ b/migrating_gazebo_classic_ros2_packages.md @@ -324,10 +324,9 @@ You can reference the Waffle [model SDF file before editing here](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/blob/d16cdbe7ecd601ccad48f87f77b6d89079ec5ac1/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf), and [after editing here](https://github.com/azeey/turtlebot3_simulations/blob/new_gazebo/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf). -For each `` in the original model, The following is a list of all the -plugins in the original model. For each plugin, we will either remove the plugin -if it's no longer necessary, or use the equivalent plugin from the new Gazebo. -You can use the Feature comparison page +The following is a list of all the plugins in the original model. +For each plugin, we will either remove the plugin if it's no longer necessary, +or use the equivalent plugin from the new Gazebo. You can use the Feature comparison page ([Fortress](https://gazebosim.org/docs/fortress/comparison), [Harmonic](https://gazebosim.org/docs/harmonic/comparison)) to find out of a Gazebo Classic feature (e.g. a Sensor type) is available in Gazebo. If an @@ -365,7 +364,7 @@ bridge later. The entire `` tag should now look like: Similar to the IMU, we will use a generic plugin loaded into the world for handling all rendering sensors, which includes Lidar sensors. Currently the -`ray` sensor type, which meant to use the physics engine for generator the +`ray` sensor type, which meant to use the physics engine for generating the sensor data, is not supported in the new Gazebo, we will need to update it to `gpu_lidar`. We'll also need to change the `` tag inside `` to ``. The `frame_name` parameter of the plugin will be handled by setting @@ -392,8 +391,8 @@ should look like: > [Plugin in the original model](https://github.com/ROBOTIS-GIT/turtlebot3_simulations//blob/d16cdbe7ecd601ccad48f87f77b6d89079ec5ac1/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf#L393-L402) The Camera sensor will also use a generic plugin that handles all rendering -sensors loaded into the world. In the SDF file, we will set the `` and -tag inside ``, and the `` inside ``, both of +sensors loaded into the world. In the SDF file, we will set the `` tag +inside ``, and the `` inside ``, both of which will be used in the ROS bridge later. We will also set the `` since the default frame id used by the generic plugin in the new Gazebo is different from the default used by `libgazebo_ros_camera` in Gazebo Classic. The @@ -657,7 +656,7 @@ start_gazebo_ros_image_bridge_cmd = Node( ) ``` -Finally, we will add all new the actions to the list of `LaunchDescription`s +Finally, we will add all the new actions to the list of `LaunchDescription`s returned by the `generate_launch_description` function ```python