Gazebo | Ignition | Community
Ask Your Question
0 question

asked 2015-03-02 10:55:39 -0500

updated 2015-03-02 10:56:13 -0500

Basically I am trying to use some plugins that needs: launching gazebo from gazebo_ros package. Is not possible to include the plugin inside the sdf of the robot?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2015-03-03 02:03:35 -0500

scpeters gravatar image

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?

edit flag offensive delete link more
Login/Signup to Answer

Question Tools


Asked: 2015-03-02 10:55:39 -0500

Seen: 1,220 times

Last updated: Mar 03 '15