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Can I add user input parameters for a gazebo plugin?

asked 2018-06-20 10:01:59 -0500

bhej gravatar image

I want the user to be able to change target positions in run-time by providing poses. I do not have much experience with Gazebo plugins so I was wondering if it was possible. One approach I am thinking of is making my plugin subscribe to a topic and the user can publish to that topic.

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Using a topic sounds good. Other options would be rosparam, rosservice of dynamic_reconfigure.

Raskkii gravatar imageRaskkii ( 2018-06-21 06:15:57 -0500 )edit

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answered 2018-06-20 12:41:03 -0500

chapulina gravatar image

For runtime, I think a topic as you mentioned is your best bet.

Not exactly run-time, but you can expose parameters via SDF, so the user can modify them before running Gazebo, but without recompiling the plugin. See for example how the RandomVelocityPlugin parses the SDF here and is used here.

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Asked: 2018-06-20 10:01:59 -0500

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Last updated: Jun 20 '18