Missing files

Signed-off-by: Nate Koenig <natekoenig@gmail.com>
gazebosim · Jun 21, 2023 · e79972b · e79972b
1 parent 7099edc
commit e79972b
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diff --git a/include/gz/sim/config.hh.in b/include/gz/sim/config.hh.in
@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+/* Config.hh. Generated by CMake for @PROJECT_NAME_NO_VERSION@. */
+
+#ifndef GZ_SIM__CONFIG_HH_
+#define GZ_SIM__CONFIG_HH_
+
+/* Version number */
+#define GZ_SIM_MAJOR_VERSION ${PROJECT_VERSION_MAJOR}
+#define GZ_SIM_MINOR_VERSION ${PROJECT_VERSION_MINOR}
+#define GZ_SIM_PATCH_VERSION ${PROJECT_VERSION_PATCH}
+
+#define GZ_SIM_VERSION "${PROJECT_VERSION}"
+#define GZ_SIM_VERSION_FULL "${PROJECT_VERSION_FULL}"
+#define GZ_SIM_MAJOR_VERSION_STR "${PROJECT_VERSION_MAJOR}"
+
+#define GZ_SIM_VERSION_NAMESPACE v${PROJECT_VERSION_MAJOR}
+
+#define GZ_SIM_VERSION_HEADER "Gazebo Sim, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2018 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
+
+#define GZ_SIM_GUI_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/gui"
+#define GZ_SIM_SYSTEM_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/systems"
+#define GZ_SIM_SERVER_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}"
+#define GZ_SIM_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
+#define GZ_SIM_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
+#define GZ_SIM_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds"
+#define GZ_DISTRIBUTION "${GZ_DISTRIBUTION}"
+
+#endif
diff --git a/include/gz/sim/playback_server.config b/include/gz/sim/playback_server.config
@@ -0,0 +1,14 @@
+<server_config>
+  <plugins>
+    <plugin entity_name="*"
+            entity_type="world"
+            filename="gz-sim-user-commands-system"
+            name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="*"
+            entity_type="world"
+            filename="gz-sim-scene-broadcaster-system"
+            name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+  </plugins>
+</server_config>
diff --git a/include/gz/sim/server.config b/include/gz/sim/server.config
@@ -0,0 +1,19 @@
+<server_config>
+  <plugins>
+    <plugin entity_name="*"
+            entity_type="world"
+            filename="gz-sim-physics-system"
+            name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin entity_name="*"
+            entity_type="world"
+            filename="gz-sim-user-commands-system"
+            name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="*"
+            entity_type="world"
+            filename="gz-sim-scene-broadcaster-system"
+            name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+  </plugins>
+</server_config>
diff --git a/test/worlds/joints_in_world.sdf b/test/worlds/joints_in_world.sdf
@@ -0,0 +1,44 @@
+<?xml version="1.0" ?>
+<sdf version="1.10">
+  <world name="joints_in_world">
+    <joint name="fix_to_world" type="fixed">
+      <parent>world</parent>
+      <child>m1</child>
+    </joint>
+
+    <model name="m1">
+      <link name="link1">
+        <visual name="visual">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+    <joint name="j1" type="revolute">
+      <pose relative_to="m1"/>
+      <parent>m1</parent>
+      <child>m2</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+    <model name="m2">
+      <pose>2 0 0   0 0 0</pose>
+      <link name="link2">
+        <visual name="visual">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>