How to specify relative path file name in SDF

asked 2019-02-08 03:42:23 -0500

athul gravatar image

I created a custom plugin for my robot. I tested it in Gazebo and it seems to be working fine. Now I need to launch the entire model into Gazebo using roslaunch. I am following this tutorial. I am using ROS Service Call Spawn Method. I have build my directory based on the tutorial as follows:

/MYROBOT_gazebo
        /launch
            MYROBOT.launch
        /worlds
            MYROBOT.world
        /models
            robot.sdf
        /materials
        /plugins
           my_plugin.so

The line I am using to upload the plugin is:

<plugin name="my_awe_plugin" filename="/home/athultr/catkin_ws/src/MYROBOT_gazebo/plugins/my_plugin.so">

What is the correct way of specifying the filename as something system independent like:

 <plugin name="my_awe_plugin" filename="find MYROBOT_gazebo/plugins/my_plugin.so">

Any help would be good. Thank You!

edit retag flag offensive close merge delete

Comments

1

I'm wondering whether this is not a Gazebo issue, and should be posted on Gazebo Answers. You're using SDF, which is Gazebo's format. In URDF you'd be using substitution args and/or package:// URIs.

Also please note that the tutorial you link to is for Gazebo 1.9 -- 8 versions ago.

gvdhoorn gravatar imagegvdhoorn ( 2019-02-08 03:45:58 -0500 )edit