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Hi,

I think that in the tutorials there is enough information to make some simple plugins, check this links:

Overview of Gazebo plugins

World plugins

Model plugins

Gazebo plugins in ROS

System plugins

If you want to move a rotate joint, check the Gazebo API and and look for a function that can solve your problems.

Hi,

I think that in the tutorials there is enough information to make some simple plugins, check this links:

Overview of Gazebo plugins

World plugins

Model plugins

Gazebo plugins in ROS

System plugins

If you want to move a rotate joint, check the Gazebo API and and look for a function that can solve your problems.

Velodyne Plugin Example