ROS Plugin Source Code Examples?

I've been meaning to ask this question for a while. I'm trying to write a custom plugin for a Gazebo stereo camera that allows it to transmit images at the user's command. The tutorial here is useful for for how to have a model interface with a plugin, but there are not examples (that I can find) of the plugins themselves. Can someone offer some pointers on how to write a Gazebo-ROS plugin or just point me towards some kind of repository for that stuff? Thank you.

Asked by K. Zeng on 2014-09-17 15:43:57 UTC

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Answers

The gazebo_ros_pkgs repository should have a good bunch of plugins ready to work.

Asked by Jose Luis Rivero on 2014-09-19 11:43:00 UTC

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Thanks, I'll take a look through it.

Asked by K. Zeng on 2014-09-22 09:29:26 UTC

I implemented the gazebo_ros_multicamera plugin, and the Gazebo node can now publish image topics. The issue now is how to actually use the plugin? Do I need a certain set of console commands or something else entirely? The tutorials only cover how to write the "anchors" for the plugins.

Asked by K. Zeng on 2014-09-22 14:14:34 UTC

You can use the command line tool rostopic to publish messages to the plugin. You can also write a ROS node to publish messages to the plugin, and receive messages from the plugin.

Asked by nkoenig on 2014-09-22 17:23:04 UTC

I'm also curious about one thing, but I'm not sure whether this question is important enough for it's own post. In the section regarding multiple cameras in the tutorial I linked to in the original question, I noticed that the line "right_camera_optical_frame" was commented out. Is it supposed to be that way, or can I uncomment it if I have a stereo camera?

Asked by K. Zeng on 2014-09-23 12:46:10 UTC

Also, in that example, how is disparity taken into account?

Asked by K. Zeng on 2014-09-23 12:59:37 UTC