Using ros pluggin & catkin build
Hi,
I am trying to build and link my ros pluggin to Gazebo. I am building all my ros packages (and therefore the pluggin) using catkin build.
I am using this example from the tutorial as a base : http://gazebosim.org/tutorials?tut=ro...
The main difference I see is that I am not using catkin_make but caktin build
In the tutorial, it is explained that you need to add the following lines to your package.xml :
<gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" />
Which if I understand correctly, will tell Gazebo where to search for my compiled plugin library (plugin.so).
What I am seeing, is that when building with catkin_make, my plugin.so is located @ catkin_ws/devel/lib/plugin.so
So I suppose that the path ${prefix}/lib is correct (that is ${prefix} somehow resolves to catkin_ws/devel/)
But if I build using catkin build, my plugin.so is located @ catkin_ws/build/package_name/plugin.so.
How should I adjust my package.xml such that Gazebo can find my plugin ?
Also, is there other variable, other then ${prefix}that I can use in package.xml, and to what does ${prefix} resolve to ?
