Gazebo Garden System plugin and nested models
I have a problem that I'm not able to solve with Gazebo Garden.
I wrote a System plugin that handles a stereo camera, I need a plugin to interface the simulator with our SDK.
Differently from Gazebo Classic in Gazebo there isn't a Multi-Camera sensor, so I must associate the plugin to a model containing the two sensors instead of associating it with a single sensor.
This works correctly, but I have not found a way to add multiple simulated stereo cameras to the same robot model because I do not know how to associate each plugin with the correct sensor pair.
In SDF I could create nested models and I guess this can solve my issue, but how can I achieve the same when describing the robot with URDF in ROS2?
I'm going crazy trying to find a working solution :(
Asked by Myzhar on 2022-12-06 06:52:06 UTC
Comments
Couldn't you make the names of the sensors parameters to the plugin? eg.
xml <plugin name="..." ...> <left>name_of_left_sensor</left> <right>name_of_right_sensor</right> </plugin>Asked by azeey on 2022-12-08 17:09:15 UTC