Add a plugin to Gazebo model
Hi ! I developped a very simple model in order to simulate the Pepperl Fuchs R2000 laser sensor. I followed the example of the tutoriales provided by Gazebo int he following link:
http://gazebosim.org/tutorials?cat=gu...
Now I want to add functiononalities to my model and do things such as retreiving points cloud and visualize it in RViz.
My question is : Do I have to develop the plugin from scratch , as it is showed in this examples ?
http://gazebosim.org/tutorials?cat=gu...
http://gazebosim.org/tutorials?cat=gu...
OR , can I use an already developped plugin ? such as showed here:
If the answer of the second question is Yes, then how can I integrate this plugin to my model ?
Thanks a lot in advance !