Light source on Gazebo/Fuerte

edit

Hi Andrei,

I do not use multiple versions of Gazebo, I just have installed ROS Fuerte version. I have modified the CMakeLists.txt file as you said. Removing the dependency from the manifest.xml doesn't allow the compilation of the plugin. Actually I made the following in order to compile:

• originally, i.e. even before your suggestions, when trying to compile the plugin (the one copied above ), I got the following error:

/opt/ros/fuerte/stacks/simulatorgazebo/gazebo/gazebo/include/gazebo-1.0.2/gazebo/rendering/ContactVisual.hh:58:16: error: ‘transport’ does not name a type /opt/ros/fuerte/stacks/simulatorgazebo/gazebo/gazebo/include/gazebo-1.0.2/gazebo/rendering/ContactVisual.hh:59:16: error: ‘transport’ does not name a type

• at this point, in ./gazebo/include/gazebo-1.0.2/gazebo/rendering/Visual.hh I added a line including transport.hh, i.e. /#include "transport/transport.hh"

• after getting the plugin compiled, I got the error

Please also note that if I put just a printf in my plugin, i.e. without the line this->userCam = gui::getactivecamera(), the plugin works.

Is it possible that the error is related to the include I made? After all this could be related to the famous call to the personal camera... Probably I am missing something..

Thanks

I have created the following plugin:

#include "gui/Gui.hh"
#include "rendering/rendering.hh"
#include "gazebo.hh"

    namespace gazebo
    {
      class SystemGUI : public SystemPlugin
      {
        private: rendering::UserCameraPtr userCam;
        public: void Load(int /*_argc*/, char ** /*_argv*/)
        {
        }

        private: void Init()
        {
          // Get a pointer to the active user camera
          this->userCam = gui::get_active_camera();
        }

      };
      GZ_REGISTER_SYSTEM_PLUGIN(SystemGUI)
    }

But unfortunately, after compiling it, I get at run time the following problem:

/opt/ros/fuerte/stacks/simulatorgazebo/gazebo/gazebo/bin/gzserver: symbol lookup error: ...../rosworkspace/lightPlugin/lib/liblightPlugin.so: undefined symbol: ZN6gazebo3gui17getactive_cameraEv

Any idea?

The manifest.xml is like this:

<package>
      <description brief="lightPlugin">

         lightPlugin

      </description>
      <author>maurizio</author>
      <license>BSD</license>
      <review status="unreviewed" notes=""/>
      <url>http://ros.org/wiki/lightPlugin</url>
      <depend package="gazebo"/>
     <export>
        <gazebo plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" />
      </export>


    </package>