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Hi! As far as I know you can use the syntax like this:

<gazebo>
    <plugin name="apply_input_force" filename="libapply_input_force_plugin.so">
        <link>base_footprint</link>
    </plugin>
</gazebo>

the 'link' element here is a custom parameter you are passing to the plugin. These can be used in the plugin using this code:

_sdf->GetElement("link")->Get<std::string>();

Don't forget to pass 'sdf::ElementPtr _sdf' to your function!

Hi! As far as I know you can use the syntax like this:This seems to work for me:

<gazebo>
    <plugin name="apply_input_force" filename="libapply_input_force_plugin.so">
        <link>base_footprint</link>
    </plugin>
</gazebo>

the 'link' element here is a custom parameter you are passing to the plugin. These can be used in the plugin using this code:

_sdf->GetElement("link")->Get<std::string>();

Don't forget to pass 'sdf::ElementPtr _sdf' to your function!

Hi! This seems to work for me:

<gazebo>
    <plugin name="apply_input_force" filename="libapply_input_force_plugin.so">
        <link>base_footprint</link>
    </plugin>
</gazebo>

the 'link' element here is a custom parameter you are passing to the plugin. These can be used in the plugin using this code:

_sdf->GetElement("link")->Get<std::string>();

Don't forget to pass 'sdf::ElementPtr _sdf' to your function!