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How to add to the library search path for custom plugins

asked 2023-07-13 02:57:48 -0600

antbre gravatar image

Hi,

I'm running a gz-sim (Garden) simulation starting from PX4 where I want to include a custom plugin into my model. The model works if I copy-paste the .so file to any of the default search locations, i.e.

- /home/anton/.gz/sim/plugins/
- /usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/
- /home/anton/.ignition/gazebo/plugins/

However, I'd prefer to set an environment variable (as in Gazebo-Classic) to tell gazebo to search for additional plugins. In gazebo-classic I could do

export GAZEBO_PLUGIN_PATH="$PWD:$GAZEBO_PLUGIN_PATH"

but this doesn't seem to work in gz-sim garden.

Is there any other way to add to the library search path of gz-sim?

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answered 2023-07-13 10:48:09 -0600

antbre gravatar image

updated 2023-07-14 05:48:43 -0600

Found the answer myself. The new path variable is

GZ_SIM_SYSTEM_PLUGIN_PATH

The best overview I found of the naming conventions in the gz-garden is in this presentation.

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Hi, thanks for looking over the presentation. For others, the variable can be found by gz sim --help. Also, that variable is documented in a tutorial for how to find resources https://gazebosim.org/api/sim/7/resou...

mz gravatar imagemz ( 2023-07-14 13:12:13 -0600 )edit

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Asked: 2023-07-13 02:57:48 -0600

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Last updated: Jul 14 '23