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3 ways to do that: - develop a "Gazebo plugin", which is a C++ calling Gazebo API (answer from iche033). The robot models do not need to be modified. - use ROS and gazeborospkgs, in this case the URDF or SDF model should be adapted, w. <gazebo> tags and so on, as described in the gazebo-ROS tutorial - player and do not know how the model should be modified

I may help with solution 2.