gz-physics: Switching physics engines

[azeey-test]

Configuration

• os: Ubuntu Noble

Links

• Live
• Source

Process

Step 1 - Instructions work

Step 2 - Images (if there are any) match the result

[shameekganguly]

I'd like to test this one!

[Combuster54]

Ubuntu 24.04 Noble

From SDF

<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="custom_world">

    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
      <engine>
        <filename>HelloWorldPlugin</filename>
      </engine>
    </plugin>

    <light name="sun" type="directional">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.5 -1</direction>
    </light>

  </world>
</sdf>

bash

combuster@combuster54:~$ gz sim /home/combuster/test/gazebo-ionic-physics/world/physic_plugin_world.sdf
(2024-09-09 12:57:25.792) [error] No physics plugins found in library [/usr/lib/x86_64-linux-gnu/gz-physics-8/engine-plugins/libHelloWorldPlugin.so].

error related in: gazebosim/gz-sim#2604

From the command line

From C++ API

Link is not working, I can't test. Any idea?

[ahcorde]

PR gazebosim/gz-physics#682

[shameekganguly]

I've removed this tutorial in gazebosim/gz-physics#684 since it is not linked directly on https://gazebosim.org/api/physics/8/tutorials.html.

[shameekganguly]

Thanks anyway @Combuster54 for testing the integration with gz-sim 🙇 (I noticed that you also tested the related gz-sim tutorial in #1260, thanks!)