From 88ea3faab751c2f16a7464cc4e1007530478bab3 Mon Sep 17 00:00:00 2001
From: KiselevIlia <ilia.kiselev@tii.ae>
Date: Mon, 1 Apr 2024 17:22:07 +0400
Subject: [PATCH] How to use collision and groundtruth plugins

---
 CMakeLists.txt |  4 ++--
 README.md      | 44 ++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 46 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f9c403c..b0ffadb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -82,12 +82,12 @@ include(CPack)
 add_library(collision_plugin SHARED src/harmonic_collision.cpp)
 set_property(TARGET collision_plugin PROPERTY CXX_STANDARD 17)
 target_link_libraries(collision_plugin
-        PRIVATE gz-sim${GAZEBO_VERSION}::gz-sim${GAZEBO_VERSION}
+        PRIVATE gz-sim8::gz-sim8
         PRIVATE gz_custom_messages
 )
 
 add_library(groundtruth_plugin SHARED src/groundtruth_plugin.cpp)
 target_link_libraries(groundtruth_plugin
-        PRIVATE gz-sim${GAZEBO_VERSION}::gz-sim${GAZEBO_VERSION}
+        PRIVATE gz-sim8::gz-sim8
         PRIVATE gz_custom_messages
 )
\ No newline at end of file
diff --git a/README.md b/README.md
index 97e4f5b..03b39cf 100644
--- a/README.md
+++ b/README.md
@@ -35,3 +35,47 @@ make
 cpack -G DEB
 sudo dpkg -i *.deb
 ```
+
+### Tips
+For the [**_collision plugin_**](./src/harmonic_collision.cpp) a model must have
+1. Collision
+```
+<collision name='collision'>
+    <geometry>
+        <box>
+            <size>2.0 1.0 0.5</size>
+        </box>
+    </geometry>
+</collision>
+```
+ 2. Contact sensor
+ ```
+<sensor name='sensor_contact' type='contact'>
+    <contact>
+        <!--The name of the collision element from above-->
+        <collision>collision</collision>
+    </contact>
+</sensor>
+ ```
+3. Plugins 
+```
+<plugin filename="gz-sim-contact-system"
+        name="gz::sim::systems::Contact">
+</plugin>
+<plugin filename="collision_plugin"
+        name="gz::CollisionPlugin">
+    <!-- 1000 == 1 sec -->
+    <updateRate>1000</updateRate>
+</plugin>
+```
+
+For the [**_groundtruth plugin_**](./src/groundtruth_plugin.cpp) a model must have only plugin
+```
+<plugin filename="groundtruth_plugin"
+    name="gz::sim::systems::GroundtruthPlugin">
+    <!-- 1000 == 1 sec -->
+    <update_frequency>100</update_frequency>
+</plugin>
+```
+
+Collision and groundtruth plugins requires [TASFMessage](https://github.com/tiiuae/TASFMessages) library for work
\ No newline at end of file