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Another possible approach is to publish to the ~/visual gz topic, here's an example in haptix:

https://bitbucket.org/osrf/handsim/src/62b1deba4ab2f82b7910beb959042212c3c9bfae/src/HaptixWorldPlugin.cc?at=default#cl-1291

and here's a related tutorial with a video at the end:

http://gazebosim.org/tutorials?tut=haptix_world_sim_api&branch=haptix_world_sim_api

Another possible approach is to publish to the ~/visual gz topic, here's an example in haptix:haptix using the gz topic approach as mentioned by @nkoenig

https://bitbucket.org/osrf/handsim/src/62b1deba4ab2f82b7910beb959042212c3c9bfae/src/HaptixWorldPlugin.cc?at=default#cl-1291

and here's a related tutorial with a video at the end:

http://gazebosim.org/tutorials?tut=haptix_world_sim_api&branch=haptix_world_sim_api