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The documentation for this plugin is here !!

In order to make use of this plugin, you need to load your robot using URDF file.

Correct me if I am wrong but the Gazebo tutorials show how to build robot with URDF format. You can check this tutorial, to learn about URDF in Gazebo.

So the steps for using this plugin are :

  1. Follow the installation procedure described here ( NOTE: it is prerequisite to have installed ROS(indigo or kinetic) and have catkin workspace)

  2. Modify your robot's URDF as said in the tutorial

  3. Run Gazebo and spawn your robot (from urdf).

I use to run gazebo with roslaunch and that gives me information on the terminal when the specified object is attached to the gripper. I don't know if this output comes also with normal gazebo startup.