run c++ code on Gazebo simulator

so i have this c++ code https://github.com/erlerobot/ros_erle_takeoff_land/blob/master/src/main.cpp#L21-L24

and I want to run+test it on Gazebo simulator, any idea how can I do this I have ROS indigo installed in my laptop and Gazebo 4 all under ubuntu 14.04. I'm a beginner so if can provide me with the steps that will be great :)

Thank you

Asked by Mrmrzamany on 2016-08-09 06:28:41 UTC

Comments

Answers

So you have a node that will call a service to make a robot move , am I right ?

You probably have to write a plugin that will receive the call of your service and make your robot move :

gazebo_ros plugin tutorial

model plugins example

And in a launch file, you will start your node, gazebo and spawn your robot model(which will include a plugin tag with your plugin):

roslaunch tutorial

Asked by Brosseau.F on 2016-08-10 02:03:32 UTC