Use upstream's buoyancy engine (#128)

* Use upstream's buoyancy engine Signed-off-by: Louise Poubel <[email protected]> * Update plugin Signed-off-by: Louise Poubel <[email protected]>
osrf · Nov 2, 2021 · beeb0d4 · beeb0d4
1 parent b042c8f
commit beeb0d4
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Showing 5 changed files with 6 additions and 306 deletions.
diff --git a/lrauv_description/models/tethys_equipped/model.sdf b/lrauv_description/models/tethys_equipped/model.sdf
@@ -167,8 +167,8 @@
         <nR>0</nR>
       </plugin>
       <plugin
-        filename="BuoyancyEnginePlugin"
-        name="tethys::BuoyancyEnginePlugin">
+        filename="ignition-gazebo-buoyancy-engine-system"
+        name="ignition::gazebo::v6::systems::BuoyancyEnginePlugin">
         <link_name>buoyancy_engine</link_name>
         <namespace>tethys</namespace>
         <min_volume>0.000080</min_volume>

diff --git a/lrauv_ignition_plugins/CMakeLists.txt b/lrauv_ignition_plugins/CMakeLists.txt
@@ -57,7 +57,7 @@ function(add_lrauv_plugin PLUGIN)
   cmake_parse_arguments(add_lrauv_plugin
     "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
-  add_library(${PLUGIN} 
+  add_library(${PLUGIN}
     SHARED src/${PLUGIN}.cc ${add_lrauv_plugin_ADDITIONAL_SOURCES})
   set_property(TARGET ${PLUGIN} PROPERTY CXX_STANDARD 17)
   target_link_libraries(${PLUGIN}
@@ -106,12 +106,11 @@ add_subdirectory(src/comms/)
 
 add_lrauv_plugin(AcousticCommsPlugin
   INCLUDE_COMMS
-  PROTO 
+  PROTO
     lrauv_acoustic_message
     lrauv_internal_comms
   PRIVATE_LINK_LIBS
     CommsSupport)
-add_lrauv_plugin(BuoyancyEnginePlugin)
 add_lrauv_plugin(HydrodynamicsPlugin)
 add_lrauv_plugin(RangeBearingPlugin
   INCLUDE_COMMS

diff --git a/lrauv_ignition_plugins/src/BuoyancyEnginePlugin.cc b/lrauv_ignition_plugins/src/BuoyancyEnginePlugin.cc
diff --git a/lrauv_ignition_plugins/src/BuoyancyEnginePlugin.hh b/lrauv_ignition_plugins/src/BuoyancyEnginePlugin.hh
diff --git a/lrauv_ignition_plugins/worlds/multi_lrauv.sdf b/lrauv_ignition_plugins/worlds/multi_lrauv.sdf
@@ -131,7 +131,7 @@
           <command_topic>triton/command_topic</command_topic>
           <state_topic>triton/state_topic</state_topic>
         </plugin>
-        <plugin element_id="tethys::BuoyancyEnginePlugin" action="modify">
+        <plugin element_id="ignition::gazebo::v6::systems::BuoyancyEnginePlugin" action="modify">
           <namespace>triton</namespace>
         </plugin>
         <plugin element_id="ignition::gazebo::systems::DetachableJoint" action="modify">
@@ -167,7 +167,7 @@
           <command_topic>daphne/command_topic</command_topic>
           <state_topic>daphne/state_topic</state_topic>
         </plugin>
-        <plugin element_id="tethys::BuoyancyEnginePlugin" action="modify">
+        <plugin element_id="ignition::gazebo::v6::systems::BuoyancyEnginePlugin" action="modify">
           <namespace>daphne</namespace>
         </plugin>
         <plugin element_id="ignition::gazebo::systems::DetachableJoint" action="modify">