Best method on introducing visual plugins into urdf parser
Hi folks,
I would like to hear your thought on the best syntax for introducing visual plugins into the urdf parser. I am planning on patching urdf_parser to add this functionality.
Right now, a model plugin is resolved as follows:
<gazebo>
<plugin .... />
</gazebo>
And a sensor plugin is resolved as follows:
<gazebo reference="link">
<sensor ... >
<plugin .... />
</sensor>
</gazebo>
What is the best syntax to introduce visual plugins? I was thinking along the lines of:
<gazebo reference="link">
<visual>
<plugin .... />
</visual>
</gazebo>
The link will probably already have a visual element already from the URDF, and this will push the plugin into that visual element.
Thanks!! Piyush
Asked by piyushk on 2013-05-14 12:02:26 UTC
Answers
You can now use visual plugins in a URDF file. See http://gazebosim.org/wiki/Tutorials/1.9/ROS_Motor_and_Sensor_Plugins#Video_Plugin for an example.
Asked by piyushk on 2013-11-15 15:55:04 UTC
Comments
This link is broken. Could you post an update?
Asked by kleinma on 2018-02-22 09:53:38 UTC
I think I found it. http://gazebosim.org/tutorials?tut=ros_gzplugins#VideoPlugin
Asked by kleinma on 2018-02-22 10:03:18 UTC
Comments
What are the visual plugins? Do they include lighting effects, texture projection or similar that can be controlled through ROS?
Asked by Lucas Walter on 2013-10-17 11:24:27 UTC
@Lucas Walter: Visual Plugins allow you to change visual properties of a link. You won't be able to change lighting, but can change the texture of certain models. See http://gazebosim.org/sdf/1.4.html#plugin239.
Asked by piyushk on 2013-11-15 15:59:31 UTC