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

How to write in C++ then?

sezan92 gravatar image sezan92  ( 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 Ros Plugins would seem to be the "hello world" of writing Gazebo plugins that integrate with ROS (with 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.

Akash Purandare gravatar image Akash 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It appears as if the velodyne tutorial is out of date - the gazebo plugins do not include a velodyne plugin, and the plugins as of kinetic / melodic appear to follow camel casing, rather than the Pythonic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 image fozzy-b  ( 2019-11-22 14:27:18 -0600 )edit

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

Seen: 2,621 times

Last updated: Mar 31 '18