reference(define) my own coded gazebo plugin in urdf file
Hi, i write a gazebo plugin to control my robot(annie), i spawn urdf file in gazebo instead of sdf file, here is my code to reference my plugin in urdf:
<gazebo>
<controller:annie name="MecanumWheels" plugin="/home/gazebo_plugin_annie/build/libwheel.so">
<platform>platform</platform>
<wheel1>wheel1</wheel1>
<wheel2>wheel2</wheel2>
<wheel3>wheel3</wheel3>
<wheel4>wheel4</wheel4>
<w12>w12</w12>
<w22>w22</w22>
<w32>w32</w32>
<w42>w42</w42>
</controller:annie>
</gazebo>
When i launch the file, it showed that i have the wrong sdf file format. Then i tried another version instead of before:
<plugin name="wheel" filename="/home/gazebo_plugin_annie/build/libwheel.so">
and it does not work neither. How can i reference(define) my own coded gazebo plugin in urdf file? Please help me, thanks in advance! Shengnan Chen
