From 023d9b6165f940623ffe01530c9b3099949ecb0a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Thu, 31 Aug 2023 17:16:02 +0200
Subject: [PATCH 1/2] Remove deprecation warnings.
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 examples/standalone/multi_lrauv_race/multi_lrauv_race.cc | 2 +-
 examples/worlds/multi_lrauv_race.sdf                     | 4 ++--
 src/systems/physics/EntityFeatureMap_TEST.cc             | 3 ++-
 src/systems/physics/Physics.cc                           | 3 ++-
 test/integration/tracked_vehicle_system.cc               | 3 ++-
 5 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc b/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc
index 03ec9eee98..be8dd072d0 100644
--- a/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc
+++ b/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc
@@ -74,7 +74,7 @@ int main(int argc, char** argv)
     rudderPubs[i] = node.Advertise<gz::msgs::Double>(rudderTopics[i]);
 
     propellerTopics[i] = gz::transport::TopicUtils::AsValidTopic(
-      "/model/" + ns[i] + "/joint/propeller_joint/cmd_pos");
+      "/model/" + ns[i] + "/joint/propeller_joint/cmd_thrust");
     propellerPubs[i] = node.Advertise<gz::msgs::Double>(
       propellerTopics[i]);
   }
diff --git a/examples/worlds/multi_lrauv_race.sdf b/examples/worlds/multi_lrauv_race.sdf
index f0827cd82c..bf0aa26d3b 100644
--- a/examples/worlds/multi_lrauv_race.sdf
+++ b/examples/worlds/multi_lrauv_race.sdf
@@ -57,10 +57,10 @@
       <direction>-0.5 0.1 -0.9</direction>
     </light>
 
-    <include>
+    <!-- <include>
       <pose>-5 0 0 0 0 0</pose>
       <uri>https://fuel.gazebosim.org/1.0/mabelzhang/models/Turquoise turbidity generator</uri>
-    </include>
+    </include> -->
 
     <include>
       <pose>0 0 1 0 0 1.57</pose>
diff --git a/src/systems/physics/EntityFeatureMap_TEST.cc b/src/systems/physics/EntityFeatureMap_TEST.cc
index 948d83851a..40fd0d9abf 100644
--- a/src/systems/physics/EntityFeatureMap_TEST.cc
+++ b/src/systems/physics/EntityFeatureMap_TEST.cc
@@ -25,6 +25,7 @@
 #include <gz/physics/Entity.hh>
 #include <gz/physics/ForwardStep.hh>
 #include <gz/physics/Implements.hh>
+#include <gz/physics/InstallationDirectories.hh>
 #include <gz/physics/Link.hh>
 #include <gz/physics/RemoveEntities.hh>
 #include <gz/physics/config.hh>
@@ -57,7 +58,7 @@ class EntityFeatureMapFixture: public InternalFixture<::testing::Test>
     const std::string pluginLib = "gz-physics-dartsim-plugin";
 
     common::SystemPaths systemPaths;
-    systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR});
+    systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir());
 
     auto pathToLib = systemPaths.FindSharedLibrary(pluginLib);
     ASSERT_FALSE(pathToLib.empty())
diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
index 047e209db9..1f6defbf44 100644
--- a/src/systems/physics/Physics.cc
+++ b/src/systems/physics/Physics.cc
@@ -48,6 +48,7 @@
 #include <gz/physics/FeatureList.hh>
 #include <gz/physics/FeaturePolicy.hh>
 #include <gz/physics/heightmap/HeightmapShape.hh>
+#include <gz/physics/InstallationDirectories.hh>
 #include <gz/physics/RelativeQuantity.hh>
 #include <gz/physics/RequestEngine.hh>
 
@@ -806,7 +807,7 @@ void Physics::Configure(const Entity &_entity,
   // * Engines installed with gz-physics
   common::SystemPaths systemPaths;
   systemPaths.SetPluginPathEnv(this->dataPtr->pluginPathEnv);
-  systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR});
+  systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir());
 
   auto pathToLib = systemPaths.FindSharedLibrary(pluginLib);
 
diff --git a/test/integration/tracked_vehicle_system.cc b/test/integration/tracked_vehicle_system.cc
index 69b7155f07..b68a1de002 100644
--- a/test/integration/tracked_vehicle_system.cc
+++ b/test/integration/tracked_vehicle_system.cc
@@ -33,6 +33,7 @@
 #include <gz/physics/ContactProperties.hh>
 #include <gz/physics/FeatureList.hh>
 #include <gz/physics/FeaturePolicy.hh>
+#include <gz/physics/InstallationDirectories.hh>
 #include <gz/physics/config.hh>
 #include <gz/plugin/Loader.hh>
 #include <gz/utils/ExtraTestMacros.hh>
@@ -111,7 +112,7 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test>
     // modifications)
     common::SystemPaths systemPaths;
     systemPaths.SetPluginPathEnv("GZ_SIM_PHYSICS_ENGINE_PATH");
-    systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR});
+    systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir());
 
     auto pathToLib = systemPaths.FindSharedLibrary(*pluginLib);
     ASSERT_FALSE(pathToLib.empty())

From 886daba68d3295b864ba0c5c0a8d53f8c15f008e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Thu, 31 Aug 2023 17:23:32 +0200
Subject: [PATCH 2/2] Tweak
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 examples/standalone/multi_lrauv_race/multi_lrauv_race.cc | 2 +-
 examples/worlds/multi_lrauv_race.sdf                     | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc b/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc
index be8dd072d0..03ec9eee98 100644
--- a/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc
+++ b/examples/standalone/multi_lrauv_race/multi_lrauv_race.cc
@@ -74,7 +74,7 @@ int main(int argc, char** argv)
     rudderPubs[i] = node.Advertise<gz::msgs::Double>(rudderTopics[i]);
 
     propellerTopics[i] = gz::transport::TopicUtils::AsValidTopic(
-      "/model/" + ns[i] + "/joint/propeller_joint/cmd_thrust");
+      "/model/" + ns[i] + "/joint/propeller_joint/cmd_pos");
     propellerPubs[i] = node.Advertise<gz::msgs::Double>(
       propellerTopics[i]);
   }
diff --git a/examples/worlds/multi_lrauv_race.sdf b/examples/worlds/multi_lrauv_race.sdf
index bf0aa26d3b..f0827cd82c 100644
--- a/examples/worlds/multi_lrauv_race.sdf
+++ b/examples/worlds/multi_lrauv_race.sdf
@@ -57,10 +57,10 @@
       <direction>-0.5 0.1 -0.9</direction>
     </light>
 
-    <!-- <include>
+    <include>
       <pose>-5 0 0 0 0 0</pose>
       <uri>https://fuel.gazebosim.org/1.0/mabelzhang/models/Turquoise turbidity generator</uri>
-    </include> -->
+    </include>
 
     <include>
       <pose>0 0 1 0 0 1.57</pose>