libgazebo_ros_api_plugin.so question

Basically I am trying to use some plugins that needs: [ INFO] [1425314072.034798444]: Laser Plugin (robotNamespace = ), Info: the 'robotNamespace' param did not exit [FATAL] [1425314072.034920648]: A ROS node for Gazebo has not been initialized, unable to load plugin. Load the Gazebo system plugin 'libgazeborosapiplugin.so' in the gazeboros package)

launching gazebo from gazebo_ros package. Is not possible to include the plugin inside the sdf of the robot?

Asked by Enrico Mingo on 2015-03-02 11:55:39 UTC

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Answers

The gazebo_ros_api_plugin is a SystemPlugin. The gazebo plugin tutorial says the following about SystemPlugin's:

The System plugin is specified on the command line, and loads first during a Gazebo startup.
This plugin gives the user control over the startup process.

I'm not completely familiar with the architecture, but I believe it needs to be a SystemPlugin in order to connect with ROS during startup. Thus it needs to be specified on the command-line. I believe the scripts called by launch files take care of this.

Does this answer your question?

Asked by scpeters on 2015-03-03 03:03:35 UTC