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Best method on introducing visual plugins into urdf parser [closed]

asked 2013-05-14 12:02:26 -0500

piyushk gravatar image

Hi folks,

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.

Thanks!! Piyush

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Closed for the following reason the question is answered, right answer was accepted by nkoenig
close date 2014-02-21 17:03:35.985508

Comments

What are the visual plugins? Do they include lighting effects, texture projection or similar that can be controlled through ROS?

Lucas Walter gravatar imageLucas Walter ( 2013-10-17 11:24:27 -0500 )edit

@Lucas Walter: Visual Plugins allow you to change visual properties of a link. You won't be able to change lighting, but can change the texture of certain models. See http://gazebosim.org/sdf/1.4.html#plugin239.

piyushk gravatar imagepiyushk ( 2013-11-15 14:59:31 -0500 )edit

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answered 2013-11-15 14:55:04 -0500

piyushk gravatar image

You can now use visual plugins in a URDF file. See http://gazebosim.org/wiki/Tutorials/1...MotorandSensorPlugins#Video_Plugin for an example.

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Asked: 2013-05-14 12:02:26 -0500

Seen: 197 times

Last updated: Nov 15 '13