Hi guys, I understand this is a general question I am just looking for direction while also not violating an NDA. As the title states, how should I go about implementing an existing codebase for a robot into Gazebo?
Interfacing with Gazebo can be done through C++ plugins or through the Gazebo transport system. I believe in your case you'll want to implement some model / world plugin which connects to the rest of your codebase. Read about plugins here.
I am having trouble grasping the concept of connecting a plugin to an existing codebase. I can write my own plugins, and I can modify and understand my codebase. Just not sure how to connect them.
Asked: 2018-06-18 09:33:46 -0500
Seen: 96 times
Last updated: Jun 19 '18
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Can you be just a tiny bit more specific? Is the codebase in C++? What do you need from simulation?
Yes I apologize its a broad question. The codebase for the actual machine is in C++, I need to use that code in my simulation. I already created a model and a diff drive system