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Gazebo Fortress Custom plugins causing scene to not load

Ubuntu 22.04

Gazebo: Ignition Fortress

gazebo plugin: 1

Context, I've been trying to get a force sensor plugin working in gazebo fortress, however all the ones I've found are either for gazebo classic, or just fail to run with little documentation (an issue that plagues a lot of modern gazebo imo). my next solution was to create a custom plugin that solved my needs.

Currently I've created the example system plugin following the Gazebo API guides on creating system plugins. and after spending some time figuring out that you need to set the gazebo plugin path I've got a plugin that builds in cmake correctly and is loaded by gazebo. however once it loads it prevents the scene from being created, leaving me with a blank window.

Here are the relevant files

World file (including plugin)

<sdf version='1.9'>
<world name='default'>
<physics name='1ms' type='ignored'>
  <max_step_size>0.001</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>1000</real_time_update_rate>
</physics>

<include>
  <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Ground Plane</uri>
</include>
<gravity>0 0 0</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic' />
<scene>
  <ambient>0.4 0.4 0.4 1</ambient>
  <background>0.7 0.7 0.7 1</background>
  <shadows>true</shadows>
</scene>
<light name='sun' type='directional'>
  <pose>0 0 10 0 -0 0</pose>
  <cast_shadows>true</cast_shadows>
  <intensity>1</intensity>
  <direction>-0.5 0.1 -0.9</direction>
  <diffuse>0.8 0.8 0.8 1</diffuse>
  <specular>0.2 0.2 0.2 1</specular>
  <attenuation>
    <range>1000</range>
    <linear>0.01</linear>
    <constant>0.90000000000000002</constant>
    <quadratic>0.001</quadratic>
  </attenuation>
  <spot>
    <inner_angle>0</inner_angle>
    <outer_angle>0</outer_angle>
    <falloff>0</falloff>
  </spot>
</light>
<plugin
filename="libSampleSystem.so"
name="sample_system::SampleSystem">

gazebo_plugin.hpp:

 #ifndef _GAZEBO_SAMPLE_SYSTEM_PLUGIN_
 #define _GAZEBO_SAMPLE_SYSTEM_PLUGIN_

 #include <ignition/gazebo/System.hh>
 #include <ignition/plugin/Register.hh>
 namespace sample_system
 { 

class SampleSystem: public ignition::gazebo::System, 
    public ignition::gazebo::ISystemPostUpdate, 
    // public ignition::gazebo::ISystemPreUpdate, 
    // public ignition::gazebo::ISystemUpdate,
    public ignition::gazebo::ISystemConfigure
{
    public:
        SampleSystem();
        ~SampleSystem() override;

        void PostUpdate(const ignition::gazebo::UpdateInfo &_info, const ignition::gazebo::EntityComponentManager &_ecm) override;
        // void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override;
        // void Update(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override;
        void Configure(const ignition::gazebo::Entity &_entity,
            const std::shared_ptr<const sdf::Element> & _sdf,
            ignition::gazebo::EntityComponentManager &_ecm,
            ignition::gazebo::EventManager &/*_eventMgr*/);
    private:
        ignition::gazebo::Entity linkEntity;
};
}
IGNITION_ADD_PLUGIN(
sample_system::SampleSystem,
ignition::gazebo::System,
// sample_system::SampleSystem::ISystemPreUpdate,
// sample_system::SampleSystem::ISystemUpdate,
sample_system::SampleSystem::ISystemPostUpdate
)
IGNITION_ADD_PLUGIN_ALIAS(sample_system::SampleSystem,"ignition::gazebo::systems::SampleSystem")
#endif

Gazebo_Plugin.cpp:

#include "gazebo_system_plugin.hpp"
#include <ignition/gazebo/Model.hh>
#include <ignition/gazebo/Util.hh>
using namespace sample_system;
using namespace ignition::gazebo::v6;

SampleSystem::SampleSystem(){

}
SampleSystem::~SampleSystem(){

}
void SampleSystem::Configure(const Entity &_entity,
const std::shared_ptr<const sdf::Element> & _sdf,
EntityComponentManager &_ecm,
EventManager &/*_eventMgr*/
){
}

void SampleSystem::PostUpdate(const UpdateInfo &_info,
const EntityComponentManager &_ecm){
// ignmsg << "SampleSystem::PostUpdate - " << _info.simTime.count() << std::endl;
// I have commented this out so that the gazeob output is legible 
}

CMakeList.txt:

cmake_minimum_required(VERSION 3.10.2)
project(gazebo_plugins)

# find_package(ament_cmake REQUIRED)

set(IGN_CMAKE_VER 2)
set(IGN_PLUGIN_VER 1)
set(IGN_COMMON_VER 3)
set(IGN_GAZEBO_VER 6)
find_package(ignition-cmake${IGN_CMAKE_VER} REQUIRED)


ign_find_package(ignition-plugin${IGN_PLUGIN_VER} REQUIRED COMPONENTS register)
ign_find_package(ignition-common${IGN_COMMON_VER} REQUIRED)
ign_find_package(ignition-gazebo${IGN_GAZEBO_VER} REQUIRED)



add_library(SampleSystem gazebo_system_plugin.cpp gazebo_system_plugin.hpp)
set_property(TARGET SampleSystem PROPERTY CXX_STANDARD 17)

target_link_libraries(SampleSystem
  PRIVATE ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
  PRIVATE ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
  PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER}
)

ign_configure_project()

Heres the verbose gazebo output while this is going on 

ign gazebo custom_plugin.world -v 4
[Msg] Ignition Gazebo GUI    v6.11.0
[Dbg] [ign.cc:161] Subscribing to [/gazebo/starting_world].
[Dbg] [ign.cc:163] Waiting for a world to be set from the GUI...
[Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]...
[Msg] Received world [custom_plugin.world] from the GUI.
[Dbg] [ign.cc:167] Unsubscribing from [/gazebo/starting_world].
[Msg] Ignition Gazebo Server v6.11.0
Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[Msg] Loading SDF world file[/home/sperospace/Git/Robotic_Arm/01_Prototypes/03_Gecko/04_simulation/simulation_packages/src/environments/worlds/custom_plugin.world].
[Dbg] [Application.cc:92] Initializing application.
[GUI] [Dbg] [Application.cc:555] Create main window
[Msg] Serving entity system service on [/entity/system/add]
[Dbg] [SystemManager.cc:58] Loaded system [sample_system::SampleSystem] for entity [1]
[Msg] Loaded level [3]
[Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control]
[Msg] Serving GUI information on [/world/default/gui/info]
[Msg] World [default] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/default/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:241:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[GUI] [Dbg] [Gui.cc:391] Requesting GUI from [/world/default/gui/info]...
[GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/default/state]...
[GUI] [Msg] Loading config [/home/sperospace/.ignition/gazebo/6/gui.config]
[GUI] [Dbg] [Application.cc:426] Loading plugin [MinimalScene]
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [EntityContextMenuPlugin]
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity Context Menu] to main window
[GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [GzSceneManager]
[GUI] [Msg] Added plugin [Scene Manager] to main window
[GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [InteractiveViewControl]
[GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[GUI] [Msg] Added plugin [Interactive view control] to main window
[GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [CameraTracking]
[GUI] [Msg] Added plugin [Camera tracking] to main window
[GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [MarkerManager]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Msg] Added plugin [Marker Manager] to main window
[GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [SelectEntities]
[GUI] [Msg] Added plugin [Select entities] to main window
[GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Spawn]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Msg] Added plugin [Spawn] to main window
[GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [VisualizationCapabilities]
[GUI] [Msg] View as transparent service on [/gui/view/transparent]
[GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[GUI] [Msg] View center of mass service on [/gui/view/com]
[GUI] [Msg] View inertia service on [/gui/view/inertia]
[GUI] [Msg] View collisions service on [/gui/view/collisions]
[GUI] [Msg] View joints service on [/gui/view/joints]
[GUI] [Msg] View frames service on [/gui/view/frames]
[GUI] [Msg] Added plugin [Visualization capabilities] to main window
[GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl]
[GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Msg] Using world control service [/world/default/control]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes]
[GUI] [Msg] Added plugin [Shapes] to main window
[GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Lights]
[GUI] [Msg] Added plugin [Lights] to main window
[GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl]
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Dbg] [TransformControl.cc:219] Legacy mode is disabled; this plugin must be used with MinimalScene.
[GUI] [Msg] Added plugin [Transform control] to main window
[GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Screenshot]
[GUI] [Msg] Screenshot service on [/gui/screenshot]
[GUI] [Msg] Added plugin [Screenshot] to main window
[GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libScreenshot.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [CopyPaste]
[GUI] [Msg] Added plugin [Copy/Paste] to main window
[GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [ComponentInspector]
[GUI] [Msg] Added plugin [Component inspector] to main window
[GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [EntityTree]
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity tree] to main window
[GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so]
[GUI] [Dbg] [Application.cc:296] Loading window config
[GUI] [Msg] Using server control service [/server_control]
[GUI] [Dbg] [Application.cc:569] Applying config
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [MinimalScene.cc:560] Create scene [scene]
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:491] Creating PostUpdate worker threads: 2
[Dbg] [SimulationRunner.cc:502] Creating postupdate worker thread (0)
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [TransformControl.cc:528] TransformControl plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [Spawn.cc:289] Spawn plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [SelectEntities.cc:451] SelectEntities plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [MarkerManager.cc:173] Advertise /marker/list service.
[GUI] [Dbg] [MarkerManager.cc:183] Advertise /marker/list.
[GUI] [Dbg] [MarkerManager.cc:193] Advertise /marker_array.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [CameraTracking.cc:181] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Move to service on [/gui/move_to]
[GUI] [Msg] Follow service on [/gui/follow]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] Follow offset service on [/gui/follow/offset]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [InteractiveViewControl.cc:130] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"

I will also provide an example of what happens when i remove the reference to the plugin from the world file

ign gazebo custom_plugin.world -v 4
[Msg] Ignition Gazebo GUI    v6.11.0
[Dbg] [ign.cc:161] Subscribing to [/gazebo/starting_world].
[Dbg] [ign.cc:163] Waiting for a world to be set from the GUI...
[Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]...
[Msg] Received world [custom_plugin.world] from the GUI.
[Dbg] [ign.cc:167] Unsubscribing from [/gazebo/starting_world].
[Msg] Ignition Gazebo Server v6.11.0
Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[Msg] Loading SDF world file[/home/sperospace/Git/Robotic_Arm/01_Prototypes/03_Gecko/04_simulation/simulation_packages/src/environments/worlds/custom_plugin.world].
[Dbg] [Application.cc:92] Initializing application.
[GUI] [Dbg] [Application.cc:555] Create main window
[Msg] Serving entity system service on [/entity/system/add]
[Msg] Loaded level [3]
[Msg] No systems loaded from SDF, loading defaults
[Dbg] [ServerConfig.cc:1027] Loaded (3) plugins from file [/home/sperospace/.ignition/gazebo/6/server.config]
[Dbg] [Physics.cc:803] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so]
[Dbg] [SystemManager.cc:58] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[Msg] Create service on [/world/default/create]
[Msg] Remove service on [/world/default/remove]
[Msg] Pose service on [/world/default/set_pose]
[Msg] Pose service on [/world/default/set_pose_vector]
[Msg] Light configuration service on [/world/default/light_config]
[Msg] Physics service on [/world/default/set_physics]
[Msg] SphericalCoordinates service on [/world/default/set_spherical_coordinates]
[Msg] Enable collision service on [/world/default/enable_collision]
[Msg] Disable collision service on [/world/default/disable_collision]
[Msg] Material service on [/world/default/visual_config]
[Msg] Material service on [/world/default/wheel_slip]
[Dbg] [SystemManager.cc:58] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:58] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control]
[Msg] Serving GUI information on [/world/default/gui/info]
[Msg] World [default] initialized with [1ms] physics profile.
[Msg] Serving world SDF generation service on [/world/default/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource path resolve service on [/gazebo/resource_paths/resolve].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:241:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[GUI] [Dbg] [Gui.cc:391] Requesting GUI from [/world/default/gui/info]...
[GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/default/state]...
[GUI] [Msg] Loading config [/home/sperospace/.ignition/gazebo/6/gui.config]
[GUI] [Dbg] [Application.cc:426] Loading plugin [MinimalScene]
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMinimalScene.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [EntityContextMenuPlugin]
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:57:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity Context Menu] to main window
[GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityContextMenuPlugin.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [GzSceneManager]
[GUI] [Msg] Added plugin [Scene Manager] to main window
[GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzSceneManager.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [InteractiveViewControl]
[GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[GUI] [Msg] Added plugin [Interactive view control] to main window
[GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libInteractiveViewControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [CameraTracking]
[GUI] [Msg] Added plugin [Camera tracking] to main window
[GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libCameraTracking.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [MarkerManager]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Msg] Added plugin [Marker Manager] to main window
[GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libMarkerManager.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [SelectEntities]
[GUI] [Msg] Added plugin [Select entities] to main window
[GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSelectEntities.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Spawn]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Spawn/Spawn.qml:32:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Msg] Added plugin [Spawn] to main window
[GUI] [Msg] Loaded plugin [Spawn] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libSpawn.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [VisualizationCapabilities]
[GUI] [Msg] View as transparent service on [/gui/view/transparent]
[GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[GUI] [Msg] View center of mass service on [/gui/view/com]
[GUI] [Msg] View inertia service on [/gui/view/inertia]
[GUI] [Msg] View collisions service on [/gui/view/collisions]
[GUI] [Msg] View joints service on [/gui/view/joints]
[GUI] [Msg] View frames service on [/gui/view/frames]
[GUI] [Msg] Added plugin [Visualization capabilities] to main window
[GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libVisualizationCapabilities.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl]
[GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Msg] Using world control service [/world/default/control]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Dbg] [WorldControl.cc:246] Using an event to share WorldControl msgs with the server
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [WorldStats]
[GUI] [Msg] Listening to stats on [/world/default/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libWorldStats.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Shapes]
[GUI] [Msg] Added plugin [Shapes] to main window
[GUI] [Msg] Loaded plugin [Shapes] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libShapes.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Lights]
[GUI] [Msg] Added plugin [Lights] to main window
[GUI] [Msg] Loaded plugin [Lights] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libLights.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [TransformControl]
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[GUI] [Dbg] [TransformControl.cc:219] Legacy mode is disabled; this plugin must be used with MinimalScene.
[GUI] [Msg] Added plugin [Transform control] to main window
[GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libTransformControl.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [Screenshot]
[GUI] [Msg] Screenshot service on [/gui/screenshot]
[GUI] [Msg] Added plugin [Screenshot] to main window
[GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/lib/x86_64-linux-gnu/ign-gui-6/plugins/libScreenshot.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [CopyPaste]
[GUI] [Msg] Added plugin [Copy/Paste] to main window
[GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libCopyPaste.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [ComponentInspector]
[GUI] [Msg] Added plugin [Component inspector] to main window
[GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libComponentInspector.so]
[GUI] [Dbg] [Application.cc:426] Loading plugin [EntityTree]
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Added plugin [Entity tree] to main window
[GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libEntityTree.so]
[GUI] [Dbg] [Application.cc:296] Loading window config
[GUI] [Msg] Using server control service [/server_control]
[GUI] [Dbg] [Application.cc:569] Applying config
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityTree/EntityTree.qml:148:7: QML ToolButton: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:52:3: QML RenderWindowOverlay: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Wrn] [Application.cc:797] [QT] file::/EntityContextMenuPlugin/EntityContextMenuPlugin.qml:67:3: QML EntityContextMenu: Detected anchors on an item that is managed by a layout. This is undefined behavior; use Layout.alignment instead.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [MinimalScene.cc:560] Create scene [scene]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [TransformControl.cc:528] TransformControl plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [Spawn.cc:289] Spawn plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [SelectEntities.cc:451] SelectEntities plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [MarkerManager.cc:173] Advertise /marker/list service.
[GUI] [Dbg] [MarkerManager.cc:183] Advertise /marker/list.
[GUI] [Dbg] [MarkerManager.cc:193] Advertise /marker_array.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [CameraTracking.cc:181] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Move to service on [/gui/move_to]
[GUI] [Msg] Follow service on [/gui/follow]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] Follow offset service on [/gui/follow/offset]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [InteractiveViewControl.cc:130] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [EntityContextMenuPlugin.cc:79] Entity context menu plugin is using camera [scene::Camera(65527)]
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:491] Creating PostUpdate worker threads: 2
[Dbg] [SimulationRunner.cc:502] Creating postupdate worker thread (0)
[Msg] Serving scene information on [/world/default/scene/info]
[Msg] Serving graph information on [/world/default/scene/graph]
[Msg] Serving full state on [/world/default/state]
[Msg] Serving full state (async) on [/world/default/state_async]
[Msg] Publishing scene information on [/world/default/scene/info]
[Msg] Publishing entity deletions on [/world/default/scene/deletion]
[Msg] Publishing state changes on [/world/default/state]
[Msg] Publishing pose messages on [/world/default/pose/info]
[Msg] Publishing dynamic pose messages on [/world/default/dynamic_pose/info]
[GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[Dbg] [EntityComponentManager.cc:1587] Updated state thread iterators: 8 threads processing around 1 entities each.
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have `operator<<`. Component will not be serialized.
[GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized.

from what i can see the only difference between the Two is this line, that gazebo doesn't reach when it has the plugin enabled.

[Dbg] [EntityComponentManager.cc:1587] Updated state thread iterators: 8 threads processing around 1 entities each.

Here is an image of what gazebo looks like when the plugin is run in the world file: image of gazebo

Asked by Sebastian-Schroder on 2023-07-28 01:01:49 UTC

Comments

Answers

The solution to this is given in the following resolved git issue. but ultimately its that when you load a custom plugin, gazebo then doesn't load any of the default plugins, requiring you to manually add them to your world sdf file as well.

Asked by Sebastian-Schroder on 2023-08-08 20:04:14 UTC

Comments