🚀 gazebo-yarp-plugins 3.2.0 Released

[traversaro]

gazebo-yarp-plugins 3.2.0 was released today and is now available for download at: https://github.com/robotology/gazebo-yarp-plugins /releases/. It is compatible with YARP v3.1.x, v3.2 and Gazebo 7, 8, 9 and 10.

A list of changes in this release is available in the following.

Added

• Add resetSimulation method to reset simulation state and time time, in the gazebo_yarp_clock RPC interface (Added Reset Simulation gazebo-yarp-plugins#345).
• Add resetSimulationState method to reset simulation state, but not the time, in the gazebo_yarp_clock RPC interface (Add resetSimulationState and regenerate thrift-generated files gazebo-yarp-plugins#424).
• Add gazebo_yarp_doublelaser plugin to simulate a double laser device (Double laser plugin gazebo-yarp-plugins#419).
• Add gazebo_yarp_configurationoverride plugin that can be attached to a model in order to override the sdf configuration of any other plugin that is attached to the same model (Add configurationOverride Plugin gazebo-yarp-plugins#401). This plugin is particularly useful to set the initial configuration of a given model, and is documented in https://github.com/robotology/gazebo-yarp-plugins/blob/v3.2.0/plugins/configurationoverride/README.md .
• Add features in gazebo_yarp_externalwrench to apply multiple external wrenchs at the same time (Update external wrench plugin with mutiple wrenches and improve rpc responses gazebo-yarp-plugins#418) .
• Add the yarpConfigurationString to configure the YARP plugins with a single yarpConfigurationString embedded in the SDF code of the plugin (Add <yarpConfigurationString> parameter gazebo-yarp-plugins#396).
• Add a ChangeLog document based on the format defined in Keep a Changelog.

Fixed

• Fix invalid camera parameters in gazebo_depthCamera plugin (Fix invalid camera parameters in gazebo_depthCamera plugin gazebo-yarp-plugins#408).

[traversaro]

Highlight

An important new feature of this release is the support for thegazebo_yarp_configurationoverride plugin that can be attached to a model in order to override the sdf configuration of any other plugin that is attached to the same model (robotology/gazebo-yarp-plugins#401). This plugin is particularly useful to set the initial configuration of a given model, and is documented in https://github.com/robotology/gazebo-yarp-plugins/blob/v3.2.0/plugins/configurationoverride/README.md.

Via this plugin, you can spawn a model at the beginning of the simulation in any arbitrary configuration, for example you can spawn the iCub model in a sitting pose, as you can see in the following:

Thanks to @lrapetti for implementing this feature!