Weekly progress

docs/_posts/2024-09-23-Week_8.md

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+---
+title: Gazebo harmonic universe and monaco editor 
+date: 2024-09-23 9:00:00 +0100
+tags: [weekly progress]
+author: david
+img_path: /assets/img/
+toc: true
+comments: true
+---
+
+## Index
+
+- [Getting started with gazebo harmonic](#getting-started-with-gazebo-harmonic)
+- [Modifying gazebo universe](#modifying-gazebo-universe)
+- [Update to Monaco editor](#update-to-monaco-editor)
+
+
+## Getting started with gazebo harmonic
+
+To install gazebo, follow the steps on the official gazebo website: [gazebo doc](https://gazebosim.org/docs/latest/install/).
+
+In my case it didn't give me many problems, but I started to have storage problems caused by a bad docker management and I thought it was gazebo's fault, this took a lot of my time.
+
+## Modifying gazebo universe
+
+Initially I researched the most significant changes to upgrade a gazebo world to gazebo harmonic. But there were several problems, I couldn't find a universe that suited what I was looking for and also, the universe I could use from the ‘vacuum cleaner’ exercise was too repetitive. For this reason I was looking directly for a public gazebo harmonic world.
+
+[harmonic world](https://app.gazebosim.org/OpenRobotics/fuel/worlds/Harmonic%20World)
+
+![](view1.png)
+![](view2.png)
+
+
+[github](https://github.com/gazebosim/harmonic_demo.git)
+
+The main changes I made were some initial configurations in order to launch the universe and after a bit of testing, simplified the scenario.
+
+## Update to Monaco editor
+
+The benefits of using Monaco over Ace:
+- More up to date packages
+- Supported by Microsoft
+- Used in well known IDE such as VS Code
+- Support for multi-cursor
+- Integrated command palette
+- MIT license
+
+First I started by installing the necessary libraries and setting up the simplest possible editor, then I added improvements. A small autocomplete for already declared sentences and even the use of help snippets for sentences like for, while... 
+
+To have an intelligent autocompletion that understands imported libraries requires the use of pyright.