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Add tutorial to test basestate plugin
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‎tutorial/basestate/basestate_nws.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="basestate" portprefix="basestate" build="0" xmlns:xi="http://www.w3.org/2001/XInclude">
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<devices>
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<device name="basestate_nws_yarp" type="analogServer">
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<!-- See https://www.yarp.it/git-master/classAnalogWrapper.html#details for parameter documentation -->
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<param name="name"> /basestate </param>
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<param name="period"> 50 </param>
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<action phase="startup" level="5" type="attach">
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<!-- This is the same name that we passed with the yarpDeviceName to the basestate plugin -->
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<param name="device"> basestate_plugin_device </param>
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</action>
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<action phase="shutdown" level="5" type="detach" />
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</device>
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</devices>
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</robot>

‎tutorial/basestate/model.sdf

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<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="sensors">
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<physics name="1ms" type="ignored">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<model name="basestate_model">
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<pose>0 0 0.2 0 0 0</pose>
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<link name="link_1">
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<visual name="visual">
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<geometry>
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<box>
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<size>0.1 0.1 0.1</size>
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</box>
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</geometry>
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</visual>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.1 0.1 0.1</size>
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</box>
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</geometry>
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</collision>
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</link>
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<plugin name="gzyarp::BaseState" filename="gz-sim-yarp-basestate-system">
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<yarpConfigurationString>(yarpDeviceName basestate_plugin_device) (baseLink link_1)</yarpConfigurationString>
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</plugin>
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<plugin name="gzyarp::RobotInterface" filename="gz-sim-yarp-robotinterface-system">
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<yarpRobotInterfaceConfigurationFile>basestate_nws.xml</yarpRobotInterfaceConfigurationFile>
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</plugin>
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</model>
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</world>
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</sdf>

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