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Fix tutorial #276

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merged 2 commits into from
Sep 5, 2024
Merged

Fix tutorial #276

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3dda1d4
fix tutorial link for live version
avanmalleghem Sep 5, 2024
d3ff3f2
fix tutorial typo
avanmalleghem Sep 5, 2024
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6 changes: 3 additions & 3 deletions tutorials/tutorial.md
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Expand Up @@ -26,7 +26,7 @@ Every script starts with these two tags, which specify the `xml` version and `gz

We can run multiple commands from one file.

Take a look at the [sim.gzlaunch](../examples/sim.gzlaunch) launch file. This script runs the Gazebo `server` and Gazebo `client`. We need to just write the command in the `command` tag.
Take a look at the [sim.gzlaunch](https://github.com/gazebosim/gz-launch/blob/gz-launch8/examples/sim.gzlaunch) launch file. This script runs the Gazebo `server` and Gazebo `client`. We need to just write the command in the `command` tag.

```xml
<executable name='sim-server'>
Expand All @@ -36,11 +36,11 @@ Take a look at the [sim.gzlaunch](../examples/sim.gzlaunch) launch file. This sc

## Spawn a robot into simulation with plugins

Now take a look at the [factory.gzlaunch](../examples/factory.gzlaunch) launch file. We defined a `SimFactory` plugin under which we included an `X2 UGV` robot and added the `DiffDrive` plugin to control the robot. We also added the `StatePublisher` plugin which publishes the the robot state information.
Now take a look at the [factory.gzlaunch](https://github.com/gazebosim/gz-launch/blob/gz-launch8/examples/factory.gzlaunch) launch file. We defined a `SimFactory` plugin under which we included an `X2 UGV` robot and added the `DiffDrive` plugin to control the robot. We also added the `StatePublisher` plugin which publishes the robot state information.

## Launch simulation with plugins in separate processes

The [sim_plugins.gzlaunch](../examples/sim_plugins.gzlaunch) launch file loads some plugins
The [sim_plugins.gzlaunch](https://github.com/gazebosim/gz-launch/blob/gz-launch8/examples/sim_plugins.gzlaunch) launch file loads some plugins
and also starts simulation. The `joystick` plugin will be launched in its own process
and will read from a joystick device and output data onto a topic. The `JoyToTwist`
plugin also launches into a separate process and transforms a `joystick` message to a
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