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Maritime tutorials 💧 - Part 4 of 4 #2260

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Adding maritime tutorials.
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9 changes: 4 additions & 5 deletions tutorials/adding_system_plugins.md
Original file line number Diff line number Diff line change
@@ -9,7 +9,6 @@ capabilities to it.

https://gazebosim.org/api/sim/8/createsystemplugins.html


# Adding a system plugin

[This Gazebo tutorial](https://gazebosim.org/api/sim/8/createsystemplugins.html)
@@ -22,7 +21,7 @@ model. Let's see what happens if you remove that tag.
Modify your `~/gazebo_maritime/models/my_turtle/model.sdf` and remove the line
`<static>true</static>`. Then launch the simulation:

```
```bash
gz sim ~/gazebo_maritime/models/my_turtle/model.sdf
```

@@ -38,7 +37,7 @@ already exists in Gazebo, we only need to load it.
Now, run Gazebo with the provided `buoyant_turtle.sdf` world and you'll see how
your turtle does not sink anymore.

```
```bash
mkdir -p ~/gazebo_maritime/worlds
wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -o ~/gazebo_maritime/worlds
export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models
@@ -68,7 +67,7 @@ the goal is to move the model one meter and stop it.

Uncomment the following block from `buoyant_turtle.sdf`:

```
```bash
<plugin filename="gz-sim-trajectory-follower-system"
name="gz::sim::systems::TrajectoryFollower">
<link_name>base_link</link_name>
@@ -83,7 +82,7 @@ Uncomment the following block from `buoyant_turtle.sdf`:

And run Gazebo:

```
```bash
gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf
```

2 changes: 1 addition & 1 deletion tutorials/adding_visuals.md
Original file line number Diff line number Diff line change
@@ -53,7 +53,7 @@ mkdir -p ~/gazebo_maritime/models/my_turtle/meshes
mkdir -p ~/gazebo_maritime/models/my_turtle/materials/textures
```

Next, download the COLADA mesh and its texture.
Next, download the COLLADA mesh and its texture.

```
wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_visuals/turtle.dae -o ~/gazebo_maritime/models/my_turtle/meshes
10 changes: 5 additions & 5 deletions tutorials/create_vehicle.md
Original file line number Diff line number Diff line change
@@ -21,7 +21,7 @@ mkdir -p ~/gazebo_maritime/models/my_turtle && cd ~/gazebo_maritime/models/my_tu
Each model must have a `model.config` file in the model's root directory that
contains meta information about the model. Create a `model.config` file:

```
```xml
<?xml version="1.0"?>
<model>
<name>my_turtle</name>
@@ -45,7 +45,7 @@ You can find a description of the allowed elements in `model.config` in
Create a `model.sdf` file that contains the Simulator Description Format of the
model. You can find more information on the [SDF website](http://sdformat.org/).

```
```xml
<?xml version='1.0'?>
<sdf version='1.6'>
<model name="my_turtle">
@@ -77,7 +77,7 @@ model. You can find more information on the [SDF website](http://sdformat.org/).
<pose>0.08 0 0.05 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.35</radius>
<radius>0.35</radius>
<length>0.23</length>
</cylinder>
</geometry>
@@ -87,14 +87,14 @@ model. You can find more information on the [SDF website](http://sdformat.org/).
</sdf>
```

The model.sdf file contains the necessary tags to instantiate a very minimum
The `model.sdf` file contains the necessary tags to instantiate a very minimum
model named `my_turtle` using SDF version 1.6.

# Load your model in Gazebo

Launch Gazebo and load our model:

```
```bash
gz sim ~/gazebo_maritime/models/my_turtle/model.sdf
```

2 changes: 0 additions & 2 deletions tutorials/frame_reference.md
Original file line number Diff line number Diff line change
@@ -9,7 +9,6 @@ the conventions used in Gazebo.

https://gazebosim.org/api/sim/8/spherical_coordinates.html


# Gazebo world frame

This page captures some of the reference frames and conventions that we use in
@@ -36,7 +35,6 @@ being in the positive z direction and so forth.

![model_frame_sm](https://user-images.githubusercontent.com/1440739/156787618-3795012f-3a77-4048-8a16-94d6ba163f2b.jpg)


# Reference frame design considerations

If you are creating a model, besides designing its kinematic structure (links