Switched to ROS Iron
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wittenator
parent
96c69e859c
commit
d7857512f1
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@ -15,6 +15,7 @@ ackermann_steering_controller:
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base_frame_id: base_link
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publish_limited_velocity: true
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in_chained_mode: false
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enable_odom_tf: false
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reference_timeout: 2.0
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front_steering: true
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@ -15,7 +15,7 @@ ukf_filter_node:
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# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar
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# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected
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# by, for example, an IMU. Defaults to false if unspecified.
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two_d_mode: True
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two_d_mode: true
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# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for
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# future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if
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@ -63,7 +63,6 @@ ukf_filter_node:
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# 3a. Set your "world_frame" to your map_frame value
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# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state
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# estimation node from robot_localization! However, that instance should *not* fuse the global data.
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map_frame: map # Defaults to "map" if unspecified
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odom_frame: odom # Defaults to "odom" if unspecified
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base_link_frame: base_link # Defaults to "base_link" if unspecified
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world_frame: odom # Defaults to the value of odom_frame if unspecified
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@ -117,22 +116,22 @@ ukf_filter_node:
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odom0_pose_rejection_threshold: 5.0
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odom0_twist_rejection_threshold: 1.0
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#imu0: lidar/imu_covariance
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#imu0_config: [false, false, false,
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# true, true, true,
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# false, false, false,
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# true, true, true,
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# true, true, true]
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#imu0_differential: false
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#imu0_relative: true
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#imu0_queue_size: 5
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#imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names
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#imu0_twist_rejection_threshold: 0.8 #
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#imu0_linear_acceleration_rejection_threshold: 0.8 #
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imu0: lidar/imu_covariance
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imu0_config: [false, false, false,
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true, true, true,
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false, false, false,
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true, true, true,
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true, true, true]
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imu0_differential: false
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imu0_relative: true
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imu0_queue_size: 5
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imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names
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imu0_twist_rejection_threshold: 0.8 #
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imu0_linear_acceleration_rejection_threshold: 0.8 #
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# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set
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# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame.
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#imu0_remove_gravitational_acceleration: true
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imu0_remove_gravitational_acceleration: true
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# [ADVANCED] The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no
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# acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During
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@ -182,28 +181,13 @@ ukf_filter_node:
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# unspecified.
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# Note: the specification of covariance matrices can be cumbersome, so all matrix parameters in this package support
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# both full specification or specification of only the diagonal values.
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process_noise_covariance: [0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.015]
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# [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal
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# value (variance) to a large value will result in rapid convergence for initial measurements of the variable in
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# question. Users should take care not to use large values for variables that will not be measured directly. The values
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# are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the diagonal values below
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# if unspecified. In this example, we specify only the diagonal of the matrix.
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initial_estimate_covariance: [1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9, 1e-9]
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# [ADVANCED, UKF ONLY] The alpha and kappa variables control the spread of the sigma points. Unless you are familiar
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# with UKFs, it's probably a good idea to leave these alone.
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@ -214,4 +198,5 @@ ukf_filter_node:
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# [ADVANCED, UKF ONLY] The beta variable relates to the distribution of the state vector. Again, it's probably best to
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# leave this alone if you're uncertain. Defaults to 2 if unspecified.
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beta: 2.0
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beta: 2.0
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use_sime_time: true
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@ -2,7 +2,7 @@
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<ros2_control name="GazeboSimSystem" type="system">
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<hardware>
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<plugin>ign_ros2_control/IgnitionSystem</plugin>
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</hardware>
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<joint name="rear_right_wheel_joint">
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<command_interface name="velocity"/>
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@ -26,9 +26,9 @@
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</joint>
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</ros2_control>
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<gazebo>
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<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
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<parameters>$(find dcaiti_control)/config/dcaiti_config.yml</parameters>
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<parameters>$(find dcaiti_control)/config/gaz_ros2_ctl_sim.yml</parameters>
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</plugin>
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</gazebo>
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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<parameters>$(find dcaiti_control)/config/dcaiti_config.yml</parameters>
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<parameters>$(find dcaiti_control)/config/gaz_ros2_ctl_sim.yml</parameters>
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</plugin>
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</gazebo>
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</robot>
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@ -101,22 +101,22 @@ def generate_launch_description():
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name='imu_covariance_adder',
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output='screen',
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parameters=[
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{'orientation_covariance': [1e-3]*9},
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{'linear_acceleration_covariance': [1e-3]*9},
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{'angular_velocity_covariance': [1e-3]*9},
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{'orientation_covariance': [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]},
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{'linear_acceleration_covariance': [0.0002, 0.0, 0.0, 0.0, 0.0002, 0.0, 0.0, 0.0, 0.0002]},
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{'angular_velocity_covariance': [0.0001, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0001]},
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{'subscribe_topic': '/lidar/imu'},
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{'publish_topic': '/lidar/imu_covariance'}
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]
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)
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#ukf_node = Node(
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# package='robot_localization',
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# executable='ukf_node',
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# name='ukf_filter_node',
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# output='screen',
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# parameters=[str(base_path / 'config' / 'ukf.yml')],
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# remappings=[('odometry/filtered', 'odometry/local')]
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# )
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ukf_node = Node(
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package='robot_localization',
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executable='ukf_node',
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name='ukf_filter_node',
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output='screen',
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parameters=[str(base_path / 'config' / 'ukf.yml')],
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remappings=[('odometry/filtered', 'odometry/local')]
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)
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# Launch them all!
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@ -19,25 +19,25 @@
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</dart>
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</physics>
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<plugin
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filename="ignition-gazebo-physics-system"
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="ignition-gazebo-user-commands-system"
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="ignition-gazebo-scene-broadcaster-system"
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="ignition-gazebo-contact-system"
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filename="gz-sim-contact-system"
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name="gz::sim::systems::Contact">
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</plugin>
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<plugin filename="libignition-gazebo-imu-system.so"
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name="ignition::gazebo::systems::Imu">
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<plugin filename="gz-sim-imu-system.so"
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name="gz::sim::systems::Imu">
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</plugin>
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<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
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<plugin filename="gz-sim-sensors-system.so" name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<scene>
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