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How to write a custom Gazebo plugin for ROS ?

asked 2018-03-30 03:37:58 -0600

sezan92 gravatar image

Hello! I was wondering how can I write a custom gazebo plugin for ROS , preferably in Python?

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Gazebo plugins are C++ only afaik.

gvdhoorn gravatar imagegvdhoorn ( 2018-03-30 12:04:34 -0600 )edit

How to write in C++ then?

sezan92 gravatar imagesezan92 ( 2018-03-31 05:40:12 -0600 )edit

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answered 2018-03-31 05:43:46 -0600

gvdhoorn gravatar image

updated 2018-03-31 05:44:42 -0600

I'm not sure how up-to-date it is (especially with the recent releases of newer versions in the 7.x and 8.x series of Gazebo), but gazebosim.org/Tutorial: Ros Plugins would seem to be the "hello world" of writing Gazebo plugins that integrate with ROS (with gazebosim.org/Tutorial: Using Gazebo plugins with ROS showing how to configure your urdf/sdf to include the plugins in a model/sim).

I would also recommend to take a look at gazebo_ros_pkgs (source: ros-simulation/gazebo_ros_pkgs) as that package provides most of the standard Gazebo-ROS plugins. Personally I find reading other peoples sources very informative.

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You could also refer to Gazebo API in the following link. http://gazebosim.org/api.html

Akash Purandare gravatar imageAkash Purandare ( 2018-04-01 13:38:11 -0600 )edit

It appears as if the velodyne tutorial is out of date - the gazebo plugins do not include a velodyne plugin, and the plugins as of kinetic / melodic appear to follow camel casing, rather than the Pythonic underscore (looked in /usr/lib/x86_64-linux-gnu/gazebo-x/plugins

fozzy-b gravatar imagefozzy-b ( 2019-11-22 14:27:18 -0600 )edit

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Asked: 2018-03-30 03:37:58 -0600

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Last updated: Mar 31 '18