Ian Chen

actually to resolve the original stack exchange question regarding getting pose of links, there is a PosePublisher system that can be used, example world here: https://github.com/gazebosim/gz-sim/blob/gz-sim9/examples/worlds/pose_publisher.sdf

> Using pose publisher is it also possible to publish the location of a fixed link that is removed within the gazebo model, but present in the URDF? Do you...

related PR: https://github.com/gazebosim/gz-sim/pull/2892

can you try setting the `GZ_SIM_SYSTEM_PLUGIN_PATH` env var to where your plugin shared library lives?

looks like there's an issue with GI on metal. Output from homebrew CI build: ``` 281: [ RUN ] CameraSensorGlobalIlluminationTest.GlobalIlluminationEnabled 281: libc++abi: terminating with uncaught exception of type Ogre::FileNotFoundException: OGRE...

I made a couple of minor changes in [f03476b](https://github.com/gazebosim/gz-sim/pull/2550/commits/f03476beeb39839b8c06521c4213c37f25afbd65) (removed white space), and [966f48c](https://github.com/gazebosim/gz-sim/pull/2550/commits/966f48cca0e8ea924cb3dba5b1f9f603320c4f8e) (hide gui plugins). This now looks good to me.

you can debug by turning on contact visualization. Go to top right menu, search for `Visualize Contact`, set a reasonable radius (for the blue contact visuals) and enable `Show Contacts`....

The crash suggests that the [custom parameter is not available](https://github.com/gazebosim/gz-rendering/blob/52ac1ded951ea2c7c42358e657040bb976507458/ogre2/src/Ogre2GzHlmsPbsPrivate.cc#L276). The custom parameter is a rgb value that's passed to the shaders for rendering the color of the object. It's...

Just tested this with latest `gz-rendering9` commit, 9e874c0483d3c3cd34477baa59db8f7d9341a14b, on Ubuntu Noble with no gpu, and I'm not able to reproduce the test failure any more. I don't think we've updated...

yes please go ahead, I've assigned the issue to you