Adding global models (e.g. wind)...

asked 2013-01-14 10:20:23 -0600

Renzo
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I am new to Gazebo and for my application I would need to add several dynamic models, the state of which influences the robot models present in the world. A simple example could be a (time varying) wind model that needs to be accessed from within the robot models in order to compute aerodynamic forces.

From the gazebo documentation I was not able to work out what is the best way to implement something like the above. Any suggestion?

Thanks in advance.

answered 2013-01-14 11:44:16 -0600

nkoenig
7676 ●8 ●44 ●71 http://gazebosim.org/

I would create a WorldPlugin that contains the wind model. This model could either publish messages about the wind, or directly influence models.

Here is a tutorial about WorldPlugins: http://gazebosim.org/wiki/Tutorials/1.3/make_world/control

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Creating a WorldPlugin makes perfect sense. However I am not at all clear how I would get hold of the affected robot models in order to influence them directly (e.g. by applying a force). Could you point me to a place in the Gazebo code in which is shown how the world directly influences a model?

Renzo ( 2013-01-14 14:57:44 -0600 )edit

You can try looking at the SpringTestPlugin and also the Gazebo physics API.

scpeters ( 2013-01-14 17:00:14 -0600 )edit

Could you please fixed that broken links? I'm trying to do the same, but I cannot look into those links

Antares ( 2015-05-27 05:40:10 -0600 )edit

[programmatic world control tutorial](http://gazebosim.org/tutorials?tut=plugins_world_properties&cat=write_plugin), [physics api](http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/group__gazebo__physics.html)

scpeters ( 2015-05-27 12:29:56 -0600 )edit

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