ROS Plugin Source Code Examples?

asked 2014-09-17 15:43:57 -0600

K. Zeng
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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.

answered 2014-09-19 11:43:00 -0600

Jose Luis Rivero
1485 ●2 ●11 ●24

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

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Thanks, I'll take a look through it.

K. Zeng ( 2014-09-22 09:29:26 -0600 )edit

I implemented the gazeborosmulticamera 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.

K. Zeng ( 2014-09-22 14:14:34 -0600 )edit

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.

nkoenig ( 2014-09-22 17:23:04 -0600 )edit

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 "<rightFrameName>rightcameraoptical_frame</rightFrameName>" was commented out. Is it supposed to be that way, or can I uncomment it if I have a stereo camera?

K. Zeng ( 2014-09-23 12:46:10 -0600 )edit

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

K. Zeng ( 2014-09-23 12:59:37 -0600 )edit

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