Gazebo Garden System plugin and nested models

asked 2022-12-06 05:52:06 -0500

Myzhar gravatar image

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 :(

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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>

azeey gravatar imageazeey ( 2022-12-08 16:09:15 -0500 )edit