Merge remote-tracking branch 'origin/main' into config_loading

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
gazebosim · iche033 · Aug 29, 2024 · Jul 24, 2024 · Jul 26, 2024 · Aug 23, 2024
commit a9b759498f4a93df79d221b6b2b7ce98ced230d2
diff --git a/src/LevelManager.cc b/src/LevelManager.cc
@@ -110,22 +110,6 @@ void LevelManager::ReadLevelPerformerInfo(const sdf::World &_world)
     gzerr << "Could not find a plugin tag with name " << kPluginName
       << ". Levels and distributed simulation will not work.\n";
   }
-  else
-  {
-    this->ReadPerformers(pluginElem);
-    if (this->useLevels)
-      this->ReadLevels(pluginElem);
-  }
-
-  this->ConfigureDefaultLevel();
-
-  /* // Load world plugins. */
-  /* this->runner->EventMgr().Emit<events::LoadSdfPlugins>(this->worldEntity, */
-  /*     this->runner->sdfWorld->Plugins()); */
-
-  // Store the world's SDF DOM to be used when saving the world to file
-  this->runner->entityCompMgr.CreateComponent(
-      worldEntity, components::WorldSdf(*this->runner->sdfWorld));
 }
 
 /////////////////////////////////////////////////

@@ -246,7 +246,6 @@ SimulationRunner::SimulationRunner(const sdf::World &_world,
   // Create the level manager
   this->levelMgr = std::make_unique<LevelManager>(this,
       this->serverConfig.UseLevels());
-
   auto worldElem = this->sdfWorld->Element();
   bool includeDefaultServerPlugins = true;
   bool includeDefaultGuiPlugins = true;
@@ -264,7 +263,6 @@ SimulationRunner::SimulationRunner(const sdf::World &_world,
               .first;
     }
   }
-
   auto getUserPlugins = [&]()
   {
     std::list<ServerConfig::PluginInfo> userPlugins;
@@ -274,7 +272,6 @@ SimulationRunner::SimulationRunner(const sdf::World &_world,
     }
     return userPlugins;
   };
-
   auto combineUserAndDefaultPlugins =
       [](const auto &_userPlugins, const auto &_defaultPlugins, bool _includeDefaultPlugins)
   {
@@ -331,11 +328,11 @@ SimulationRunner::SimulationRunner(const sdf::World &_world,
     /* gzdbg << plugin.Plugin().Element()->ToString("\t"); */
   }
 
+  this->CreateEntities(_world);
   this->LoadServerPlugins(pluginsToLoad);
   // Store the initial state of the ECM;
   this->initialEntityCompMgr.CopyFrom(this->entityCompMgr);
 
-  this->LoadLoggingPlugins(this->serverConfig);
 
   // TODO(louise) Combine both messages into one.
   this->node->Advertise("control", &SimulationRunner::OnWorldControl, this);
@@ -352,7 +349,7 @@ SimulationRunner::SimulationRunner(const sdf::World &_world,
   // In the future, support modifying GUI from the server at runtime.
   if (_world.Gui())
   {
-    this->guiMsg = convert<msgs::GUI>(*_world->Gui());
+    this->guiMsg = convert<msgs::GUI>(*_world.Gui());
     if (worldElem)
     {
       auto policies = worldElem->FindElement("gz:policies");