Add flash light plugin on URDF [closed]
Hello,
I am doing a simulator for a submarine with uuv simulator with URDF file format.
I tried to use to plugin flash light on my code, but it seems the plugin is not imported .. !
I have no error, my code :
<!-- Vehicle macro -->
<xacro:macro name="submarine_base" params="namespace *gazebo">
<link name="${namespace}/base_link">
<inertia ixx="0.6" ixy="0" ixz="0"
iyy="30.0" iyz="0"
izz="35.0" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="${visual_mesh_file}" scale="1 1 1" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="${collision_mesh_file}" scale="1 1 1" />
</geometry>
</collision>
<light>
<id>cylinder/light_source1</id>
<duration>0.5</duration>
<interval>0.5</interval>
</light>
</link>
<gazebo reference="${namespace}/base_link">
<plugin name='light_control' filename='libFlashLightPlugin.so'>
<enable>true</enable>
<light>
<id>cylinder/light_source1</id>
<duration>0.5</duration>
<interval>0.5</interval>
</light>
</plugin>
<selfCollide>false</selfCollide>
</gazebo>
....
</xacro:macro>
</robot>
I have tried to put a light instance into the link and into the <gazebo>, but nothing to do ... What did I do wrong ?
Thank you very much !
Have you tried this? Going off of the tag names I see in this tutorial:
It works perfectly ! Thank you very much for your help !
I'm glad that worked. Make sure to close the question if you're all set!
hello, I have seen tutorial given by johnconn, but it is SDF format, I try libFlashLightPlugin in sdf, it works! however, I fail to run this plugin in xacro file. here is my code: