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Resources for writing ROS plugins

I realize that standalone Gazebo/ROS integration (among many other things) is something being worked on as we speak.

I still have a question relating to the Fuerte integration question . I would've commented but I think my karma's too low :) .

Regarding the comments about how the "joint_states" publisher is really a plugin that talks to ROS, I would like to put together a plugin or set of plugins to re-create some of the basic functionality provided with previous versions of ROS/Gazebo. An example would be something like the erratic robot with controller, ideally launchable from a roslaunch file as well. I have seen gazebo_ros_ plugins but the examples seem to be for the earlier wrapped versions of Gazebo.

I would like to avoid starting from scratch if I can avoid it, so are there any resources implement the necessary plugins required for basic ROS robot controller functionality? Even a list of the required plugins would be helpful. Thanks

Resources for writing ROS plugins

I realize that standalone Gazebo/ROS integration (among many other things) is something being worked on as we speak.

I still have a question relating to the Fuerte integration question . I would've commented but I think my karma's too low :) .

Regarding the comments about how the "joint_states" publisher is really a plugin that talks to ROS, I would like to put together a plugin or set of plugins to re-create some of the basic functionality provided with previous versions of ROS/Gazebo.

An example would be something like the erratic robot with controller, ideally launchable from a roslaunch file as well. I have seen gazebo_ros_ plugins but the examples seem to be for the earlier wrapped versions of Gazebo.

I would like to avoid starting from scratch if I can avoid it, so are there any resources implement the necessary plugins required for basic ROS robot controller functionality? Even a list of the required plugins would be helpful. Thanks