gz-sim
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Fix SDF plugin variables for MulticopterMotorModel
🦟 Bug fix
Fixes #1980
Summary
Updated the MulticopterMotorModel plugin to use unified SDF variable formatting. Included a deprecation warning for users that the old variables will be removed in harmonic.
Checklist
- [x] Signed all commits for DCO
- [x] Added tests
- [x] Updated documentation (as needed)
- [x] Updated migration guide (as needed)
- [x] Consider updating Python bindings (if the library has them)
- [x]
codecheck
passed (See contributing) - [ ] All tests passed (See test coverage)
- [x] While waiting for a review on your PR, please help review another open pull request to support the maintainers
FWIW, the parameter names were directly taken from https://github.com/ethz-asl/rotors_simulator/blob/master/rotors_gazebo_plugins/src/gazebo_motor_model.cpp to make it easier for users to transition from RotorS based models.
The plan is to make backward compatible changes in ign-gazebo6 and gz-sim7 without warnings (maybe with a todo to enable warnings) and then enable warnings in main
(Harmonic). And then remove the old parameters in Gazebo-I
Removing beta from this as well per our conversation with Ben.