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‎Changelog.md‎

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## Ignition Gazebo 5.x
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### Ignition Gazebo 5.X.X (202X-XX-XX)
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### Ignition Gazebo 5.4.0 (2022-03-31)
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1. Add the Model Photo Shoot system, port of Modelpropshop plugin from Gazebo classic
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* [Pull request #1331](https://github.com/ignitionrobotics/ign-gazebo/pull/1331)
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1. Add wheel slip user command
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* [Pull request #1241](https://github.com/ignitionrobotics/ign-gazebo/pull/1241)
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1. Added user command to set multiple entity poses
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* [Pull request #1394](https://github.com/ignitionrobotics/ign-gazebo/pull/1394)
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1. Component inspector: refactor Pose3d C++ code into a separate class
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* [Pull request #1400](https://github.com/ignitionrobotics/ign-gazebo/pull/1400)
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1. Toggle Light visuals
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* [Pull request #1387](https://github.com/ignitionrobotics/ign-gazebo/pull/1387)
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1. Allow to turn on/off lights
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* [Pull request #1343](https://github.com/ignitionrobotics/ign-gazebo/pull/1343)
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1. Added more sensor properties to scene/info topic
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* [Pull request #1344](https://github.com/ignitionrobotics/ign-gazebo/pull/1344)
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1. JointStatePublisher publish parent, child and axis data
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* [Pull request #1345](https://github.com/ignitionrobotics/ign-gazebo/pull/1345)
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1. Fixed light GUI component inspector
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* [Pull request #1337](https://github.com/ignitionrobotics/ign-gazebo/pull/1337)
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1. Fix `UNIT_SdfGenerator_TEST`
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* [Pull request #1319](https://github.com/ignitionrobotics/ign-gazebo/pull/1319)
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1. Add elevator system
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* [Pull request #535](https://github.com/ignitionrobotics/ign-gazebo/pull/535)
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1. Removed unused variables in shapes plugin
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* [Pull request #1321](https://github.com/ignitionrobotics/ign-gazebo/pull/1321)
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1. Log an error if JointPositionController cannot find the joint. (citadel retarget)
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* [Pull request #1314](https://github.com/ignitionrobotics/ign-gazebo/pull/1314)
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1. Buoyancy: fix center of volume's reference frame
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* [Pull request #1302](https://github.com/ignitionrobotics/ign-gazebo/pull/1302)
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1. Remove EachNew calls from sensor PreUpdates
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* [Pull request #1281](https://github.com/ignitionrobotics/ign-gazebo/pull/1281)
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1. Prevent GzScene3D 💥 if another scene is already loaded
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* [Pull request #1294](https://github.com/ignitionrobotics/ign-gazebo/pull/1294)
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1. Cleanup update call for non-rendering sensors
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* [Pull request #1282](https://github.com/ignitionrobotics/ign-gazebo/pull/1282)
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1. Documentation Error
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* [Pull request #1285](https://github.com/ignitionrobotics/ign-gazebo/pull/1285)
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1. Min and max parameters for velocity, acceleration, and jerk apply to linear and angular separately.
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* [Pull request #1229](https://github.com/ignitionrobotics/ign-gazebo/pull/1229)
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1. Add project() call to examples
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* [Pull request #1274](https://github.com/ignitionrobotics/ign-gazebo/pull/1274)
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1. Implement `/server_control::stop`
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* [Pull request #1240](https://github.com/ignitionrobotics/ign-gazebo/pull/1240)
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1. 👩‍🌾 Make depth camera tests more robust (#897)
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* [Pull request #897) (#1257](https://github.com/ignitionrobotics/ign-gazebo/pull/897) (#1257)
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1. Support battery draining start via topics
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* [Pull request #1255](https://github.com/ignitionrobotics/ign-gazebo/pull/1255)
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1. Make tests run as fast as possible
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* [Pull request #1194](https://github.com/ignitionrobotics/ign-gazebo/pull/1194)
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* [Pull request #1250](https://github.com/ignitionrobotics/ign-gazebo/pull/1250)
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1. Fix visualize lidar
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* [Pull request #1224](https://github.com/ignitionrobotics/ign-gazebo/pull/1224)
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1. Skip failing Windows tests
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* [Pull request #1205](https://github.com/ignitionrobotics/ign-gazebo/pull/1205)
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* [Pull request #1204](https://github.com/ignitionrobotics/ign-gazebo/pull/1204)
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* [Pull request #1259](https://github.com/ignitionrobotics/ign-gazebo/pull/1259)
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* [Pull request #1408](https://github.com/ignitionrobotics/ign-gazebo/pull/1408)
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1. Configurable joint state publisher's topic
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* [Pull request #1076](https://github.com/ignitionrobotics/ign-gazebo/pull/1076)
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1. Thruster plugin: add tests and velocity control
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* [Pull request #1190](https://github.com/ignitionrobotics/ign-gazebo/pull/1190)
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1. Limit thruster system's input thrust cmd
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* [Pull request #1318](https://github.com/ignitionrobotics/ign-gazebo/pull/1318)
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### Ignition Gazebo 5.3.0 (2021-11-12)
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‎examples/worlds/model_photo_shoot.sdf‎

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<?xml version="1.0" ?>
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<!--
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Ignition Gazebo Model Photo Shoot plugin demo
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This will take perspective, top, front, and both sides pictures of the model:
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ign gazebo -s -r -v 4 \-\-iterations 50 model_photo_shoot.sdf
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-->
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<sdf version="1.6">
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<world name="default">
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<gravity>0 0 0</gravity>
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<plugin
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filename="ignition-gazebo-physics-system"
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name="ignition::gazebo::systems::Physics">
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</plugin>
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<plugin
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filename="ignition-gazebo-sensors-system"
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name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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<background_color>1, 1, 1</background_color>
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</plugin>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Robonaut</uri>
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<plugin
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filename="ignition-gazebo-model-photo-shoot-system"
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name="ignition::gazebo::systems::ModelPhotoShoot">
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<translation_data_file>poses.txt</translation_data_file>
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<random_joints_pose>false</random_joints_pose>
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</plugin>
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</include>
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<model name="photo_shoot">
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<link name="link">
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<pose>0 0 0 0 0 0</pose>
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<sensor name="camera" type="camera">
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>960</width>
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<height>540</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<topic>camera</topic>
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</sensor>
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</link>
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<static>true</static>
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</model>
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</world>
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</sdf>

‎include/ignition/gazebo/components/WheelSlipCmd.hh‎

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/*
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* Copyright (C) 2022 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef IGNITION_GAZEBO_COMPONENTS_WHEELSLIPCMD_HH_
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#define IGNITION_GAZEBO_COMPONENTS_WHEELSLIPCMD_HH_
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#include <ignition/gazebo/config.hh>
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#include <ignition/gazebo/Export.hh>
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#include <ignition/gazebo/components/Component.hh>
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#include <ignition/gazebo/components/Factory.hh>
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#include <ignition/gazebo/components/Serialization.hh>
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#include <ignition/msgs/wheel_slip_parameters_cmd.pb.h>
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namespace ignition
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{
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namespace gazebo
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{
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// Inline bracket to help doxygen filtering.
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inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
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namespace components
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{
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/// \brief A component type that contains commanded wheel slip parameters of
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/// an entity in the world frame represented by msgs::WheelSlipParameters.
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using WheelSlipCmd = Component<ignition::msgs::WheelSlipParametersCmd,
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class WheelSlipCmdTag, serializers::MsgSerializer>;
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IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.WheelSlipCmd",
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WheelSlipCmd)
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}
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}
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}
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}
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#endif

‎src/systems/CMakeLists.txt‎

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add_subdirectory(logical_audio_sensor_plugin)
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add_subdirectory(logical_camera)
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add_subdirectory(magnetometer)
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add_subdirectory(model_photo_shoot)
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add_subdirectory(mecanum_drive)
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add_subdirectory(multicopter_motor_model)
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add_subdirectory(multicopter_control)

‎src/systems/model_photo_shoot/CMakeLists.txt‎

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gz_add_system(model-photo-shoot
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SOURCES
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ModelPhotoShoot.cc
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PUBLIC_LINK_LIBS
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ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
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ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
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ignition-transport${IGN_TRANSPORT_VER}::ignition-transport${IGN_TRANSPORT_VER}
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)

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