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Tips for implementing an existing codebase in Gazebo?

asked 2018-06-18 09:33:46 -0500

MRhinelander gravatar image

Hi guys, I understand this is a general question I am just looking for direction while also not violating an NDA. As the title states, how should I go about implementing an existing codebase for a robot into Gazebo?

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Can you be just a tiny bit more specific? Is the codebase in C++? What do you need from simulation?

chapulina gravatar imagechapulina ( 2018-06-18 12:44:41 -0500 )edit

Yes I apologize its a broad question. The codebase for the actual machine is in C++, I need to use that code in my simulation. I already created a model and a diff drive system

MRhinelander gravatar imageMRhinelander ( 2018-06-19 08:30:55 -0500 )edit

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answered 2018-06-19 12:16:11 -0500

Interfacing with Gazebo can be done through C++ plugins or through the Gazebo transport system. I believe in your case you'll want to implement some model / world plugin which connects to the rest of your codebase. Read about plugins here.

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I am having trouble grasping the concept of connecting a plugin to an existing codebase. I can write my own plugins, and I can modify and understand my codebase. Just not sure how to connect them.

MRhinelander gravatar imageMRhinelander ( 2018-06-25 10:50:43 -0500 )edit

You'll probably need to compile the plugin linking and including both Gazebo and your code...

chapulina gravatar imagechapulina ( 2018-06-25 11:17:38 -0500 )edit
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Asked: 2018-06-18 09:33:46 -0500

Seen: 33 times

Last updated: Jun 19