# Revision history [back]

### Using ros pluggin & catkin build

Hi,

I am trying to build and link my ros pluggin to Gazebo. I am building all my ros packages (and therefore the pluggin) using catkin build.

I am using this example from the tutorial as a base : http://gazebosim.org/tutorials?tut=ros_plugins

The main difference I see is that I am not using catkin_make but caktin build

In the tutorial, it is explained that you need to add the following lines to your package.xml : <gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}"/>

Which if I understand correctly, will tell Gazebo where to search for my compiled plugin library (plugin.so).

What I am seeing, is that when building with catkin_make, my plugin.so is located @ catkin_ws/devel/lib/plugin.so So I suppose that the path ${prefix}/lib is correct (that is${prefix} somehow resolves to catkin_ws/devel/)

But if I build using catkin build, my plugin.so is located @ catkin_ws/build/package_name/plugin.so.

How should I adjust my package.xml such that Gazebo can find my plugin ?

Also, is there other variable, other then ${prefix} that I can use in package.xml, and to what does${prefix} resolve to ?

 2 None sloretz 496 ●3 ●14

### Using ros pluggin & catkin build

Hi,

I am trying to build and link my ros pluggin to Gazebo. I am building all my ros packages (and therefore the pluggin) using catkin build.

I am using this example from the tutorial as a base : http://gazebosim.org/tutorials?tut=ros_plugins

The main difference I see is that I am not using catkin_make but caktin build

In the tutorial, it is explained that you need to add the following lines to your package.xml :

<gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}"/>gazebo_media_path="${prefix}" />  Which if I understand correctly, will tell Gazebo where to search for my compiled plugin library (plugin.so). What I am seeing, is that when building with catkin_make, my plugin.so is located @ catkin_ws/devel/lib/plugin.so catkin_ws/devel/lib/plugin.so So I suppose that the path ${prefix}/lib is is correct (that is ${prefix} ${prefix} somehow resolves to catkin_ws/devel/)catkin_ws/devel/)

But if I build using catkin build, my plugin.so is located @ catkin_ws/build/package_name/plugin.so.catkin_ws/build/package_name/plugin.so.

How should I adjust my package.xml such that Gazebo can find my plugin ?

Also, is there other variable, other then ${prefix} ${prefix}that I can use in package.xml, and to what does ${prefix} ${prefix} resolve to ?