Silvio Traversaro

Similarly to how the ROS's fmi_adapter ( https://github.com/boschresearch/fmi_adapter ) installs the `FMIAdapter` class to simplify the integration of FMU's in arbitrary nodes ( https://github.com/boschresearch/fmi_adapter/blob/master/fmi_adapter/include/fmi_adapter/FMIAdapter.h#L38 ), in gazebo-fmi we should make...

This issue is similar to https://github.com/robotology/gazebo-fmi/issues/31 , but for the `single-body-fluid-dynamics` plugin.

If one launches the example in https://github.com/robotology/gazebo-fmi/tree/master/plugins/actuator/examples/damped_pendulum in ODE instead of using Simbody as documented in the documentation, the evolution of the two pendulum are quite different, with the FMI...

Handle linking to std::filesystem in a smooth way

1

See https://gitlab.kitware.com/cmake/cmake/issues/17834 . I guess the current logic https://github.com/robotology/gazebo-fmi/blob/master/plugins/actuator/CMakeLists.txt#L15 is broken on clang.

Structured logging of FMU variables

10

The need to reliably log the state of the FMU simulated emerged several times. A prototype of this functionality (still missing critical pieces of the infrastructure) is available in https://github.com/traversaro/gazebo-fmi-1/commit/de31703e79c0a6eca5c4ff12f8cc6c9f1b804ea4#diff-87879b445e0fd2c9203e3f98b65c619dR65...

Locally on Ubuntu 18.04 with: ~~~ straversaro@iiticublap103:~/src/gazebo-fmi/build$ omc --version OpenModelica 1.14.0~dev-375-ge9bb8d6 straversaro@iiticublap103:~/src/gazebo-fmi/build$ gazebo --version Gazebo multi-robot simulator, version 9.8.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache...

Expose internal FMU state

9

Middleware specific plugins may be interested in accessing the internal state of the FMU, for example for implementing actuator specific sensors such as SEAs (see https://github.com/robotology/gazebo-yarp-plugins/issues/192 and https://github.com/robotology/gazebo-fmi/issues/18).

Consider using FMI4cpp

5

FMI4cpp is a new FMI 2.0 C++ library available at https://github.com/SFI-Mechatronics/FMI4cpp . The API seems quite C++ idiomatic, and may be easier to use than the C-based api of [FMILibrary](https://jmodelica.org/fmil/FMILibrary-2.0.3-htmldoc/index.html)...

[actuator] Handle effortLimit

2

In the actuator plugin, the input to the actuator is actually passed to the FMI plugin through the `Joint::SetForce` method. This method limits the input using the `effortLimit` attribute of...

We cannot test with OpenModelica easily at the moment on mac, but we should be able to at least testing that the compilation is working fine, to avoid issues as...