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1 | initial version |
Following up on my comment above:
The gazebo_ros_state
plugin is registered as a WORLD_PLUGIN type here. The error in the OP is coming from model.cc
which is looking for MODEL_PLUGIN
type here.
So, it seems the problem here is, the addition of the plugin in the sdf file is not having the desired effect of specifying a WORLD_PLUGIN. Adding the <plugin>
under the <world>
tag directly like below works without issues:
<world name="default">
<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
<ros>
<namespace>/demo</namespace>
<argument>model_states:=model_states_demo</argument>
</ros>
<update_rate>1.0</update_rate>
</plugin>
</world>
Starting this world with gazebo my_world_file.world --verbose
and then doing a ros2 service list | grep entity
gives:
/demo/get_entity_state
/demo/set_entity_state
2 | No.2 Revision |
Following up on my comment above:
The gazebo_ros_state
plugin is registered as a WORLD_PLUGIN type here. The error in the OP is coming from model.cc
which is looking for MODEL_PLUGIN
type here.
So, it seems the problem here is, the addition of the plugin in the sdf file is not having the desired effect of specifying a WORLD_PLUGIN. Adding the <plugin>
under the <world>
tag directly like below works without issues:
<world name="default">
<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
<ros>
<namespace>/demo</namespace>
<argument>model_states:=model_states_demo</argument>
</ros>
<update_rate>1.0</update_rate>
</plugin>
</world>
Starting this world with gazebo my_world_file.world --verbose
and then doing a ros2 service list | grep entity
gives:
/demo/get_entity_state
/demo/set_entity_state