Gazebo | Ignition | Community
Ask Your Question

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

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

Renzo gravatar image

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.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

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

nkoenig gravatar image

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:

edit flag offensive delete link more


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 gravatar imageRenzo ( 2013-01-14 14:57:44 -0600 )edit

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

scpeters gravatar imagescpeters ( 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 gravatar imageAntares ( 2015-05-27 05:40:10 -0600 )edit

[programmatic world control tutorial](, [physics api](

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

Question Tools

1 follower


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

Seen: 2,392 times

Last updated: Jan 14 '13