From 14d9770e782f8c6ff1c158877bcedccae34da2fb Mon Sep 17 00:00:00 2001
From: Olivier Crave <olivier.crave@parrot.com>
Date: Fri, 8 Jan 2016 15:55:08 +0100
Subject: [PATCH 01/12] New tutorial on track_visual

---
 track_visual/files/track_visual.world      | 119 ++++++++++++++++++
 track_visual/files/tutorialGUIExpanded.png | Bin 0 -> 42318 bytes
 track_visual/tutorial.md                   | 138 +++++++++++++++++++++
 3 files changed, 257 insertions(+)
 create mode 100644 track_visual/files/track_visual.world
 create mode 100644 track_visual/files/tutorialGUIExpanded.png
 create mode 100644 track_visual/tutorial.md

diff --git a/track_visual/files/track_visual.world b/track_visual/files/track_visual.world
new file mode 100644
index 00000000..68a6b309
--- /dev/null
+++ b/track_visual/files/track_visual.world
@@ -0,0 +1,119 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <gui>
+      <camera name="user_camera">
+        <track_visual>
+          <name>box</name>
+          <static>false</static>
+          <min_dist>0</min_dist>
+          <max_dist>8</max_dist>
+        </track_visual>
+      </camera>
+    </gui>
+
+    <model name="box">
+      <pose>0 0 0.5 0 0 0</pose>
+      <link name="link">
+        <kinematic>true</kinematic>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.0</mu>
+                <mu2>0.0</mu2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </visual>
+      </link>
+
+      <!-- Apply a random velocity to the specified link-->
+      <!-- In this example, we move a box around. A key property of the link
+           is the frictionless surface -->
+      <plugin name="random" filename="libRandomVelocityPlugin.so">
+
+        <!-- Name of the link in this model that receives the velocity -->
+        <link>link</link>
+
+        <!-- Initial velocity that is applied to the link -->
+        <initial_velocity>0 0.5 0</initial_velocity>
+
+        <!-- Scaling factor that is used to compute a new velocity -->
+        <velocity_factor>0.5</velocity_factor>
+
+        <!-- Time, in seconds, between new velocities -->
+        <update_period>5</update_period>
+
+        <!-- Clamp the Z velocity value to zero. You can also clamp x and
+             y values -->
+        <min_z>0</min_z>
+        <max_z>0</max_z>
+      </plugin>
+    </model>
+
+    <model name="sphere">
+      <pose>0 2 0.5 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+        </visual>
+      </link>
+
+      <!-- Apply a random velocity to the specified link-->
+      <!-- In this example, we move a sphere around. A key property of the link
+           is the frictionless surface -->
+      <plugin name="random" filename="libRandomVelocityPlugin.so">
+
+        <!-- Name of the link in this model that receives the velocity -->
+        <link>link</link>
+
+        <!-- Initial velocity that is applied to the link -->
+        <initial_velocity>0 0.5 0</initial_velocity>
+
+        <!-- Scaling factor that is used to compute a new velocity -->
+        <velocity_factor>0.5</velocity_factor>
+
+        <!-- Time, in seconds, between new velocities -->
+        <update_period>5</update_period>
+
+        <!-- Clamp the Z velocity value to zero. You can also clamp x and
+             y values -->
+        <min_z>0</min_z>
+        <max_z>0</max_z>
+      </plugin>
+    </model>
+  </world>
+</sdf>
diff --git a/track_visual/files/tutorialGUIExpanded.png b/track_visual/files/tutorialGUIExpanded.png
new file mode 100644
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diff --git a/track_visual/tutorial.md b/track_visual/tutorial.md
new file mode 100644
index 00000000..a35b9540
--- /dev/null
+++ b/track_visual/tutorial.md
@@ -0,0 +1,138 @@
+# Overview
+
+This tutorial demonstrates how you can track a visual with the user camera by
+using the SDF `<track_visual>` tag or the GUI.
+
+## Quick start
+
+1. Let's start by creating a directory for this tutorial:
+
+    ~~~
+    mkdir ~/tutorial_track_visual
+    cd ~/tutorial_track_visual
+    ~~~
+
+2. Download this file:
+[`track_visual.world`](http://bitbucket.org/osrf/gazebo_tutorials/raw/default/track_visual/files/track_visual.world)
+into the current directory. You can use this command:
+
+    ~~~
+    wget http://bitbucket.org/osrf/gazebo_tutorials/raw/default/track_visual/files/track_visual.world
+    ~~~
+
+    You should get this world file:
+
+    <include src='http://bitbucket.org/osrf/gazebo_tutorials/raw/default/track_visual/files/track_visual.world' />
+
+3. Start gazebo:
+
+    ~~~
+    gazebo track_visual.world
+    ~~~
+
+    You should see a cube moving randomly around the world's origin.
+
+## The world explained
+
+Let's go further and understand the different elements of the `track_visual.world`.
+
+<include from='/    <gui/' to='/</name>/' src='http://bitbucket.org/osrf/gazebo_tutorials/raw/default/track_visual/files/track_visual.world' />
+
+Within the `track_visual` tag, you can see how to select a visual by specifying a `<name>` tag. The visual will be tracked from startup. The camera will follow the model by changing its orientation.
+
+<include from='/    <static/' to='/</max_dist>/' src='http://bitbucket.org/osrf/gazebo_tutorials/raw/default/track_visual/files/track_visual.world' />
+
+Because `<static>` is set to `false`, the position of the camera may vary but the distance between the camera and the model will depend on the value of the `min_dist` and `max_dist` elements.
+
+Now change `<static>` to `true`:
+
+    ~~~
+    <gui>
+      <camera name="user_camera">
+        <track_visual>
+          <name>box</name>
+          <static>true</static>
+        </track_visual>
+      </camera>
+    </gui>
+    ~~~
+
+Relaunch Gazebo. The position of the camera is now fixed relatively to the model being tracked.
+
+By default, the camera is located 5 meters behind and 1 meter above the model. Try changing its location by specifying a `<xyz>` tag:
+
+    ~~~
+    <gui>
+      <camera name="user_camera">
+        <track_visual>
+          <name>box</name>
+          <static>true</static>
+          <xyz>3 2 5</xyz>
+        </track_visual>
+      </camera>
+    </gui>
+    ~~~
+
+Relaunch Gazebo. The camera is now located 3 meters in front, 2 meters to the left, and 5 meters above the tracked model.
+
+Finally, we introduce the `<relative>` tag whose default value is `true`. When the `<static>` tag is `true`, this element specifies whether the coordinates provided by `<xyz>` are relative to the model reference frame or the world reference frame. Try changing the value of the `<relative>` tag:
+
+    ~~~
+    <gui>
+      <camera name="user_camera">
+        <track_visual>
+          <name>box</name>
+          <static>true</static>
+          <relative>false</relative>
+          <xyz>0 0 10</xyz>
+        </track_visual>
+      </camera>
+    </gui>
+    ~~~
+
+Relaunch Gazebo. The camera now stays at 10 meters above the origin.
+
+To illustrate the last element, we will track a sphere instead of a cube. Change `<name>` to `sphere` and make sure that `<static>` and `<relative>` are set to `true`:
+
+    ~~~
+    <gui>
+      <camera name="user_camera">
+        <track_visual>
+          <name>box</name>
+          <static>true</static>
+          <relative>true</relative>
+          <xyz>2 0 1</xyz>
+        </track_visual>
+      </camera>
+    </gui>
+    ~~~
+
+Relaunch Gazebo. You should now see the camera following the sphere. But there is one issue: the camera jumps back and forth whenever the sphere makes a half turn. That is because, by default, the camera is configured to inherit the yaw rotation of the tracked visual.
+
+To prevent this behaviour, simply set the `<inherit_yaw>` tag to `false`:
+
+    ~~~
+    <gui>
+      <camera name="user_camera">
+        <track_visual>
+          <name>box</name>
+          <static>true</static>
+          <relative>true</relative>
+          <inherit_yaw>false</inherit_yaw>
+          <xyz>2 0 1</xyz>
+        </track_visual>
+      </camera>
+    </gui>
+    ~~~
+
+Relaunch Gazebo. The camera should now follow the sphere flawlessly.
+
+## Dynamic Reconfigure
+
+The camera properties can be adjusted dynamically within Gazebo.
+
+In the `World` tab, select the `GUI` item. A list of GUI properties will be displayed in the list box below. Click the triangle to expand the properties if needed.
+
+[[file:files/tutorialGUIExpanded.png|257px]]
+
+These properties allow you to dynamically change the parameters defined in `<track_visual>`. They will be applied whenever a model is being followed by the camera.

From 956124852bf956f9f7144bdd996012440d96dd46 Mon Sep 17 00:00:00 2001
From: chapulina <burajiru.no.chapulina@gmail.com>
Date: Fri, 8 Jan 2016 14:29:16 -0800
Subject: [PATCH 02/12] added to manifest

---
 manifest.xml | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/manifest.xml b/manifest.xml
index bb9a4b91..fd8989c0 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -304,6 +304,12 @@
       <skill>beginner</skill>
     </tutorial>
 
+    <tutorial title="Tracking visuals" ref='track_visual'>
+      <markdown version="7.0+">track_visual/tutorial.md</markdown>
+      <description>Use the graphical interface or SDF files to track visuals with the user camera.</description>
+      <skill>beginner</skill>
+    </tutorial>
+
     <tutorial title="Instrument HDF5 Datasets" ref='instrument_hdf5_datasets'>
       <markdown version="1.9+">instrument_hdf5_datasets/tutorial.md</markdown>
       <description>How to dump simulation data into HDF5 format for benchmark.</description>
@@ -888,6 +894,7 @@
         <tutorial>log_filtering</tutorial>
         <tutorial>apply_force_torque</tutorial>
         <tutorial>instrument_hdf5_datasets</tutorial>
+        <tutorial>track_visual</tutorial>
       </tutorials>
     </category>
 

From bdd01ac39288cd0de2e4d5abbc30239eb0304cbf Mon Sep 17 00:00:00 2001
From: Olivier Crave <olivier.crave@parrot.com>
Date: Mon, 11 Jan 2016 14:53:47 +0100
Subject: [PATCH 03/12] Fixed indentation

---
 track_visual/tutorial.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/track_visual/tutorial.md b/track_visual/tutorial.md
index a35b9540..35e28ec1 100644
--- a/track_visual/tutorial.md
+++ b/track_visual/tutorial.md
@@ -40,7 +40,7 @@ Let's go further and understand the different elements of the `track_visual.worl
 
 Within the `track_visual` tag, you can see how to select a visual by specifying a `<name>` tag. The visual will be tracked from startup. The camera will follow the model by changing its orientation.
 
-<include from='/    <static/' to='/</max_dist>/' src='http://bitbucket.org/osrf/gazebo_tutorials/raw/default/track_visual/files/track_visual.world' />
+<include from='/          <static/' to='/</max_dist>/' src='http://bitbucket.org/osrf/gazebo_tutorials/raw/default/track_visual/files/track_visual.world' />
 
 Because `<static>` is set to `false`, the position of the camera may vary but the distance between the camera and the model will depend on the value of the `min_dist` and `max_dist` elements.
 

From 408ac89aee65fdfb3dd979c30d8807cd7cbd3f1a Mon Sep 17 00:00:00 2001
From: Olivier Crave <olivier.crave@parrot.com>
Date: Mon, 11 Jan 2016 14:55:04 +0100
Subject: [PATCH 04/12] Say "model origin" instead of "origin"

---
 track_visual/tutorial.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/track_visual/tutorial.md b/track_visual/tutorial.md
index 35e28ec1..75d3292c 100644
--- a/track_visual/tutorial.md
+++ b/track_visual/tutorial.md
@@ -42,7 +42,7 @@ Within the `track_visual` tag, you can see how to select a visual by specifying
 
 <include from='/          <static/' to='/</max_dist>/' src='http://bitbucket.org/osrf/gazebo_tutorials/raw/default/track_visual/files/track_visual.world' />
 
-Because `<static>` is set to `false`, the position of the camera may vary but the distance between the camera and the model will depend on the value of the `min_dist` and `max_dist` elements.
+Because `<static>` is set to `false`, the position of the camera may vary but the distance between the camera and the model origin will depend on the value of the `min_dist` and `max_dist` elements.
 
 Now change `<static>` to `true`:
 

From fa92b63edd72cd10b851b8d807d7baa726cab84f Mon Sep 17 00:00:00 2001
From: Olivier Crave <olivier.crave@parrot.com>
Date: Mon, 11 Jan 2016 14:55:56 +0100
Subject: [PATCH 05/12] Removed ~~~ when not needed

---
 track_visual/tutorial.md | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/track_visual/tutorial.md b/track_visual/tutorial.md
index 75d3292c..07678c8f 100644
--- a/track_visual/tutorial.md
+++ b/track_visual/tutorial.md
@@ -46,7 +46,6 @@ Because `<static>` is set to `false`, the position of the camera may vary but th
 
 Now change `<static>` to `true`:
 
-    ~~~
     <gui>
       <camera name="user_camera">
         <track_visual>
@@ -55,13 +54,11 @@ Now change `<static>` to `true`:
         </track_visual>
       </camera>
     </gui>
-    ~~~
 
 Relaunch Gazebo. The position of the camera is now fixed relatively to the model being tracked.
 
 By default, the camera is located 5 meters behind and 1 meter above the model. Try changing its location by specifying a `<xyz>` tag:
 
-    ~~~
     <gui>
       <camera name="user_camera">
         <track_visual>
@@ -71,13 +68,11 @@ By default, the camera is located 5 meters behind and 1 meter above the model. T
         </track_visual>
       </camera>
     </gui>
-    ~~~
 
 Relaunch Gazebo. The camera is now located 3 meters in front, 2 meters to the left, and 5 meters above the tracked model.
 
 Finally, we introduce the `<relative>` tag whose default value is `true`. When the `<static>` tag is `true`, this element specifies whether the coordinates provided by `<xyz>` are relative to the model reference frame or the world reference frame. Try changing the value of the `<relative>` tag:
 
-    ~~~
     <gui>
       <camera name="user_camera">
         <track_visual>
@@ -88,13 +83,11 @@ Finally, we introduce the `<relative>` tag whose default value is `true`. When t
         </track_visual>
       </camera>
     </gui>
-    ~~~
 
 Relaunch Gazebo. The camera now stays at 10 meters above the origin.
 
 To illustrate the last element, we will track a sphere instead of a cube. Change `<name>` to `sphere` and make sure that `<static>` and `<relative>` are set to `true`:
 
-    ~~~
     <gui>
       <camera name="user_camera">
         <track_visual>
@@ -105,13 +98,11 @@ To illustrate the last element, we will track a sphere instead of a cube. Change
         </track_visual>
       </camera>
     </gui>
-    ~~~
 
 Relaunch Gazebo. You should now see the camera following the sphere. But there is one issue: the camera jumps back and forth whenever the sphere makes a half turn. That is because, by default, the camera is configured to inherit the yaw rotation of the tracked visual.
 
 To prevent this behaviour, simply set the `<inherit_yaw>` tag to `false`:
 
-    ~~~
     <gui>
       <camera name="user_camera">
         <track_visual>
@@ -123,7 +114,6 @@ To prevent this behaviour, simply set the `<inherit_yaw>` tag to `false`:
         </track_visual>
       </camera>
     </gui>
-    ~~~
 
 Relaunch Gazebo. The camera should now follow the sphere flawlessly.
 

From 27a331b869bde4457ad94c3db03187b3b6d20cfd Mon Sep 17 00:00:00 2001
From: Olivier Crave <olivier.crave@parrot.com>
Date: Mon, 11 Jan 2016 14:57:55 +0100
Subject: [PATCH 06/12] Use the sphere example

---
 track_visual/tutorial.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/track_visual/tutorial.md b/track_visual/tutorial.md
index 07678c8f..aa3b6ac1 100644
--- a/track_visual/tutorial.md
+++ b/track_visual/tutorial.md
@@ -84,14 +84,14 @@ Finally, we introduce the `<relative>` tag whose default value is `true`. When t
       </camera>
     </gui>
 
-Relaunch Gazebo. The camera now stays at 10 meters above the origin.
+Relaunch Gazebo. The camera is now staying 10 meters above the origin.
 
 To illustrate the last element, we will track a sphere instead of a cube. Change `<name>` to `sphere` and make sure that `<static>` and `<relative>` are set to `true`:
 
     <gui>
       <camera name="user_camera">
         <track_visual>
-          <name>box</name>
+          <name>sphere</name>
           <static>true</static>
           <relative>true</relative>
           <xyz>2 0 1</xyz>
@@ -106,7 +106,7 @@ To prevent this behaviour, simply set the `<inherit_yaw>` tag to `false`:
     <gui>
       <camera name="user_camera">
         <track_visual>
-          <name>box</name>
+          <name>sphere</name>
           <static>true</static>
           <relative>true</relative>
           <inherit_yaw>false</inherit_yaw>

From dc851f13257ed1fb25f8a146f6276bfa3cd692a2 Mon Sep 17 00:00:00 2001
From: Olivier Crave <olivier.crave@parrot.com>
Date: Mon, 11 Jan 2016 14:58:20 +0100
Subject: [PATCH 07/12] Minor change

---
 track_visual/tutorial.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/track_visual/tutorial.md b/track_visual/tutorial.md
index aa3b6ac1..8f7b8c08 100644
--- a/track_visual/tutorial.md
+++ b/track_visual/tutorial.md
@@ -86,7 +86,7 @@ Finally, we introduce the `<relative>` tag whose default value is `true`. When t
 
 Relaunch Gazebo. The camera is now staying 10 meters above the origin.
 
-To illustrate the last element, we will track a sphere instead of a cube. Change `<name>` to `sphere` and make sure that `<static>` and `<relative>` are set to `true`:
+To illustrate the last element `<inherit_yaw>`, we will track a sphere instead of a cube. Change `<name>` to `sphere` and make sure that `<static>` and `<relative>` are set to `true`:
 
     <gui>
       <camera name="user_camera">

From 08cb3ccd1533357a848dae559f5772a8a49be2c7 Mon Sep 17 00:00:00 2001
From: Olivier Crave <olivier.crave@parrot.com>
Date: Wed, 13 Jan 2016 15:48:34 +0100
Subject: [PATCH 08/12] renamed relative to use_model_frame

---
 track_visual/tutorial.md | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/track_visual/tutorial.md b/track_visual/tutorial.md
index a35b9540..3867a54c 100644
--- a/track_visual/tutorial.md
+++ b/track_visual/tutorial.md
@@ -75,7 +75,7 @@ By default, the camera is located 5 meters behind and 1 meter above the model. T
 
 Relaunch Gazebo. The camera is now located 3 meters in front, 2 meters to the left, and 5 meters above the tracked model.
 
-Finally, we introduce the `<relative>` tag whose default value is `true`. When the `<static>` tag is `true`, this element specifies whether the coordinates provided by `<xyz>` are relative to the model reference frame or the world reference frame. Try changing the value of the `<relative>` tag:
+Finally, we introduce the `<use_model_frame>` tag whose default value is `true`. When the `<static>` tag is `true`, this element specifies whether the coordinates provided by `<xyz>` are relative to the model reference frame or the world reference frame. Try changing the value of the `<use_model_frame>` tag:
 
     ~~~
     <gui>
@@ -83,7 +83,7 @@ Finally, we introduce the `<relative>` tag whose default value is `true`. When t
         <track_visual>
           <name>box</name>
           <static>true</static>
-          <relative>false</relative>
+          <use_model_frame>false</use_model_frame>
           <xyz>0 0 10</xyz>
         </track_visual>
       </camera>
@@ -92,7 +92,7 @@ Finally, we introduce the `<relative>` tag whose default value is `true`. When t
 
 Relaunch Gazebo. The camera now stays at 10 meters above the origin.
 
-To illustrate the last element, we will track a sphere instead of a cube. Change `<name>` to `sphere` and make sure that `<static>` and `<relative>` are set to `true`:
+To illustrate the last element, we will track a sphere instead of a cube. Change `<name>` to `sphere` and make sure that `<static>` and `<use_model_frame>` are set to `true`:
 
     ~~~
     <gui>
@@ -100,7 +100,7 @@ To illustrate the last element, we will track a sphere instead of a cube. Change
         <track_visual>
           <name>box</name>
           <static>true</static>
-          <relative>true</relative>
+          <use_model_frame>true</use_model_frame>
           <xyz>2 0 1</xyz>
         </track_visual>
       </camera>
@@ -117,7 +117,7 @@ To prevent this behaviour, simply set the `<inherit_yaw>` tag to `false`:
         <track_visual>
           <name>box</name>
           <static>true</static>
-          <relative>true</relative>
+          <use_model_frame>true</use_model_frame>
           <inherit_yaw>false</inherit_yaw>
           <xyz>2 0 1</xyz>
         </track_visual>

From cf2d39f2e3a90bedc76d654c9bca4625a12b654b Mon Sep 17 00:00:00 2001
From: Olivier Crave <olivier.crave@parrot.com>
Date: Wed, 13 Jan 2016 15:49:55 +0100
Subject: [PATCH 09/12] added list of parameters

---
 track_visual/tutorial.md | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/track_visual/tutorial.md b/track_visual/tutorial.md
index 3867a54c..104a224a 100644
--- a/track_visual/tutorial.md
+++ b/track_visual/tutorial.md
@@ -127,6 +127,16 @@ To prevent this behaviour, simply set the `<inherit_yaw>` tag to `false`:
 
 Relaunch Gazebo. The camera should now follow the sphere flawlessly.
 
+Below is the complete list of elements that can be set within `<track_visual>`:
+
+* `<name>`: Name of the tracked visual. If no name is provided, the remaining settings will be applied whenever tracking is triggered in the GUI. This parameter is never ignored.
+* `<static>`: If set to `true`, the position of the camera is fixed relatively to the model or to the world, depending on the value of the `<use_model_frame>` element. Otherwise, the position of the camera may vary but the distance between the camera and the model will depend on the value of the `<min_dist>` and `<max_dist>` elements. In any case, the camera will always follow the model by changing its orientation. This parameter is never ignored.
+* `<min_dist>`: Minimum distance between the camera and the tracked visual. This parameter is ignored when `<static>` is `true`.
+* `<max_dist>`: Maximum distance between the camera and the tracked visual. This parameter is ignored when `<static>` is `true`.
+* `<use_model_frame>`: If set to `true`, the position of the camera is relative to the model reference frame, which means that its position relative to the model will not change. Otherwise, the position of the camera is relative to the world reference frame, which means that its position relative to the world will not change. This parameter is ignored when `<static>` is `false`.
+* `<xyz>`: The position of the camera's reference frame. If `<use_model_frame>` is set to `true`, the position is relative to the model reference frame, otherwise it represents world coordinates. This parameter is ignored when `<static>` is `false`.
+* `<inherit_yaw>`: If set to `true`, the camera will inherit the yaw rotation of the tracked model. This parameter is ignored when `<static>` is `false` or when `<use_model_frame>` is `false`. In other words, it is only used if `<static>` and `<use_model_frame>` are both `true`.
+
 ## Dynamic Reconfigure
 
 The camera properties can be adjusted dynamically within Gazebo.

From f32d0fb52bccdbd0c83f2e8f3e4695321ce235a2 Mon Sep 17 00:00:00 2001
From: Olivier Crave <olivier.crave@parrot.com>
Date: Thu, 14 Jan 2016 10:04:40 +0100
Subject: [PATCH 10/12] new sphere example

---
 track_visual/files/track_visual.world | 26 ++++----------------------
 track_visual/tutorial.md              | 12 +++++-------
 2 files changed, 9 insertions(+), 29 deletions(-)

diff --git a/track_visual/files/track_visual.world b/track_visual/files/track_visual.world
index 68a6b309..564ee31f 100644
--- a/track_visual/files/track_visual.world
+++ b/track_visual/files/track_visual.world
@@ -74,7 +74,7 @@
     </model>
 
     <model name="sphere">
-      <pose>0 2 0.5 0 0 0</pose>
+      <pose>4 2 0.5 0 0 0</pose>
       <link name="link">
         <collision name="collision">
           <geometry>
@@ -92,27 +92,9 @@
         </visual>
       </link>
 
-      <!-- Apply a random velocity to the specified link-->
-      <!-- In this example, we move a sphere around. A key property of the link
-           is the frictionless surface -->
-      <plugin name="random" filename="libRandomVelocityPlugin.so">
-
-        <!-- Name of the link in this model that receives the velocity -->
-        <link>link</link>
-
-        <!-- Initial velocity that is applied to the link -->
-        <initial_velocity>0 0.5 0</initial_velocity>
-
-        <!-- Scaling factor that is used to compute a new velocity -->
-        <velocity_factor>0.5</velocity_factor>
-
-        <!-- Time, in seconds, between new velocities -->
-        <update_period>5</update_period>
-
-        <!-- Clamp the Z velocity value to zero. You can also clamp x and
-             y values -->
-        <min_z>0</min_z>
-        <max_z>0</max_z>
+      <plugin name="initial" filename="libInitialVelocityPlugin.so">
+        <linear>0 0 0</linear>
+        <angular>0 0 1</angular>
       </plugin>
     </model>
   </world>
diff --git a/track_visual/tutorial.md b/track_visual/tutorial.md
index c68b12f6..e37969bb 100644
--- a/track_visual/tutorial.md
+++ b/track_visual/tutorial.md
@@ -94,14 +94,12 @@ To illustrate the last element `<inherit_yaw>`, we will track a sphere instead o
           <name>sphere</name>
           <static>true</static>
           <use_model_frame>true</use_model_frame>
-          <xyz>2 0 1</xyz>
+          <xyz>-3 0 0</xyz>
         </track_visual>
       </camera>
     </gui>
 
-Relaunch Gazebo. You should now see the camera following the sphere. But there is one issue: the camera jumps back and forth whenever the sphere makes a half turn. That is because, by default, the camera is configured to inherit the yaw rotation of the tracked visual.
-
-To prevent this behaviour, simply set the `<inherit_yaw>` tag to `false`:
+Relaunch Gazebo. You should now see a sphere rotating in front of the camera. By default, the camera is configured to ignore the pitch, roll and yaw of the model. To inherit the yaw rotation of the visual, simply set the `<inherit_yaw>` tag to `true`:
 
     <gui>
       <camera name="user_camera">
@@ -109,13 +107,13 @@ To prevent this behaviour, simply set the `<inherit_yaw>` tag to `false`:
           <name>sphere</name>
           <static>true</static>
           <use_model_frame>true</use_model_frame>
-          <inherit_yaw>false</inherit_yaw>
-          <xyz>2 0 1</xyz>
+          <xyz>-3 0 0</xyz>
+          <inherit_yaw>true</inherit_yaw>
         </track_visual>
       </camera>
     </gui>
 
-Relaunch Gazebo. The camera should now follow the sphere flawlessly.
+Relaunch Gazebo. The camera should now rotate around the sphere as it turns around.
 
 Below is the complete list of elements that can be set within `<track_visual>`:
 

From a4c63d49df127adb52a5b697abaaf3139e53c537 Mon Sep 17 00:00:00 2001
From: Olivier Crave <olivier.crave@parrot.com>
Date: Wed, 12 Jul 2017 14:18:48 +0200
Subject: [PATCH 11/12] fix sdf version

---
 track_visual/files/track_visual.world | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/track_visual/files/track_visual.world b/track_visual/files/track_visual.world
index 564ee31f..4b55a4c4 100644
--- a/track_visual/files/track_visual.world
+++ b/track_visual/files/track_visual.world
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.6">
   <world name="default">
     <!-- A global light source -->
     <include>

From c607aa673c3ad96afc207cc8c7d0e8e10d766d83 Mon Sep 17 00:00:00 2001
From: Olivier Crave <olivier.crave@parrot.com>
Date: Wed, 12 Jul 2017 14:19:43 +0200
Subject: [PATCH 12/12] change user camera pose to better visualize the scene

---
 track_visual/files/track_visual.world | 1 +
 1 file changed, 1 insertion(+)

diff --git a/track_visual/files/track_visual.world b/track_visual/files/track_visual.world
index 4b55a4c4..504ff0ac 100644
--- a/track_visual/files/track_visual.world
+++ b/track_visual/files/track_visual.world
@@ -12,6 +12,7 @@
 
     <gui>
       <camera name="user_camera">
+        <pose>-2 0 2 0 0 0</pose>
         <track_visual>
           <name>box</name>
           <static>false</static>