How to attach ROS2 plugin to my world?

asked 2020-04-08 08:25:08 -0500

Kasprian gravatar image

Hi guys, i am new to a Gazebo and I am trying to create my custom world based on gazebo_ros_diff_drive_demo.world and communicate by using ROS2. Everything is working on tutorial version. I am able to start new world and send via topic message to start movement of a vehicle for example using command :

ros2 topic pub /demo/cmd_demo geometry_msgs/Twist '{linear: {x: 1.0}}' -1

So far so good, everything is working as expected, but after that when i will try to copy this world to my directory and run the same world file I can see loaded model, but it doesn't respond to my ROS2 commends. What I am missing? How to attach plugin library to my new project? Sorry for so basic question, but i am struggling to find solution on the Internet, I suspect it's something very basic. Thank you in advance.

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