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Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
xiyuoh
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Apr 28, 2025
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Tested in both Jazzy and Rolling, verified that it fixed the gz crashes in Rolling. LGTM!
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
xiyuoh
approved these changes
Apr 30, 2025
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xiyuoh
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Thanks for catching the bugs in lift travel, verified in both Rolling and Jazzy that lift operations are working well!
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
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While testing on rolling I ran into an issue where the velocity commands were no longer working.
I discovered a PR in gz-sim which changed the behavior of gz-sim to remove all velocity command components on each cycle of the simulation.
This PR updates
rmf_simulationto accommodate the new gz-sim 9 behavior, which is important for the kilted release since gz-sim 9 is currently on rolling and therefore will be included in kilted.I believe this should be backwards compatible with gz-sim 8 in jazzy.