Best method on introducing visual plugins into urdf parser [closed]
I would like to hear your thought on the best syntax for introducing visual plugins into the urdf parser. I am planning on patching urdf_parser to add this functionality.
Right now, a model plugin is resolved as follows:
<gazebo> <plugin .... /> </gazebo>
And a sensor plugin is resolved as follows:
<gazebo reference="link"> <sensor ... > <plugin .... /> </sensor> </gazebo>
What is the best syntax to introduce visual plugins? I was thinking along the lines of:
<gazebo reference="link"> <visual> <plugin .... /> </visual> </gazebo>
The link will probably already have a visual element already from the URDF, and this will push the plugin into that visual element.