C++ file for Gazebo plugin "GazeboCoSimPlugin.so"

Question

JAEYONG HAN 2021-7-28

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/887459-c-file-for-gazebo-plugin-gazebocosimplugin-so

评论： Gaurav Bhosale 2022-6-20

Hi, I successfully tried two examples, named "Perform Co-Simulation between Simulink and Gazebo" and "Control a Differential Drive Robot in Gazebo with Simulink" with the plugin named"libGazeboCoSimPlugin.so". Now I want to see how they built the plugin, and want to write my own.

But, I can't find C++ file for the plugin.

Where can I find it? or someone can send me?

please share your knowledge about it.

Thanks

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Gaurav Bhosale 2021-7-29

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/887459-c-file-for-gazebo-plugin-gazebocosimplugin-so#answer_756626

Hi Jaeyong,

As you already have ROS2 and Gazebo VM, I will provide you details with respect to same VM.

The Gazebo plugin source files and executables are present /home/user/src/GazeboPlugin

Further, /home/user/src/GazeboPlugin/src/gazeboplugin/GazeboPlugin.cpp is the main 'World_Plugin' initializes and controls several handalers. In addition, /home/user/src/GazeboPlugin/src/gazeboplugin/CMakeLists.txt generates libGazeboCoSimPlugin.so at /home/user/src/GazeboPlugin/export/lib location. So, you can modify GazeboPlugin.cpp or write your own plugin and link with libGazeboCoSimPlugin.so in the world file.

Please, let me know, if you have further doubts or questions.

Thanks.

With Regards,

Gaurav Bhosale