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run c++ code on Gazebo simulator

asked 2016-08-09 06:28:41 -0600

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so i have this c++ code

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

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answered 2016-08-10 02:03:32 -0600

Brosseau.F gravatar image

updated 2016-08-10 02:04:32 -0600

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

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Asked: 2016-08-09 06:28:41 -0600

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Last updated: Aug 10 '16