Gazebo plugins in ROS Gazebo plugins in ROS

[Aster]

https://classic.gazebosim.org/tutorials?tut=ros_gzplugins

 

Adding a ModelPlugin

In short, the ModelPlugin is inserted in the URDF inside the <robot> element. It is wrapped with the <gazebo> pill, to indicate information passed to Gazebo. For example:

<robot>
  ... robot description ...
  <gazebo>
    <plugin name="differential_drive_controller" filename="libdiffdrive_plugin.so">
      ... plugin parameters ...
    </plugin>
  </gazebo>
  ... robot description ...
</robot>

Upon loading the robot model within Gazebo, the diffdrive_plugin code will be given a reference to the model itself, allowing it to manipulate it. Also, it will be give a reference to the SDF element of itself, in order to read the plugin parameters passed to it.

Adding a SensorPlugin

Specifying sensor plugins is slightly different. Sensors in Gazebo are meant to be attached to links, so the <gazebo> element describing that sensor must be given a reference to that link. For example:

<robot>
  ... robot description ...
  <link name="sensor_link">
    ... link description ...
  </link>

  <gazebo reference="sensor_link">
    <sensor type="camera" name="camera1">
      ... sensor parameters ...
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        ... plugin parameters ..
      </plugin>
    </sensor>
  </gazebo>

</robot>

Upon loading the robot model within Gazebo, the camera_controller code will be given a reference to the sensor, providing access to its API. Also, it will be give a reference to the SDF element of itself, in order to read the plugin parameters passed to it.