#2360 Merged at 521fd72
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actor_2
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default

Generalize actors

Author
  1. Louise Poubel
Reviewers
Description
  • Requires this SDF pull request

  • This PR should make this tutorial work

Changes:

  • Use same skin and animation in cafe.world

  • Made the shirt of moonwalk.dae red, so it is different from the other actors. This helps explaining the difference between skin and animation in the tutorial.

  • Refactored physics::Actor so:

    • Scripts can be used without skin / animation (so it works if we have only links)

    • If animation is not specified, try to get animation from skin

  • Added tests for actors

Comments (5)

  1. Ian Chen

    do you get this test failure?

    [ RUN      ] ActorTest.TrajectoryFromSDF
    [Msg] Waiting for master.
    [Msg] Connected to gazebo master @ http://127.0.0.1:11345
    [Msg] Publicized address: 172.23.1.93
    [Dbg] [ServerFixture.cc:200] ServerFixture load in 1.3 seconds, timeout after 600 seconds
    /media/ian/tmp/depot/ws6/src/gazebo_ext2/gazebo/physics/Actor_TEST.cc:91: Failure
    Value of: 4.0
      Actual: 4
    Expected: actor->ScriptTime()
    Which is: 3.978
    /media/ian/tmp/depot/ws6/src/gazebo_ext2/gazebo/physics/Actor_TEST.cc:98: Failure
    Value of: 8.0
      Actual: 8
    Expected: actor->ScriptTime()
    Which is: 7.99