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Attach plugin to included laser model

Hello,

My sdf model contains an included Hokuyo laser, and I tried to attach the rather standard libgazebo_ros_gpu_laser.so plugin, as follows:

<model name="my_laser">
    <include>
        <uri>model://hokuyo</uri>
        <pose>-0.22 0 0.10500000000000001 0 0 3.141592653589793</pose>
        <plugin name="laser_plugin" filename="libgazebo_ros_gpu_laser.so" />
    </include>
</model>

I get this error:

Model[my_laser] is attempting to load a plugin, but detected an incorrect plugin type.

Indeed, from what I see in the example, the plugin is meant for <sensor> elements.

So can I access the sensor itself, and attach the plugin to it directly?

If not, how do you suggest I use the plugin?

Thanks,

Attach plugin to included laser model

Hello,

My sdf model contains an included Hokuyo laser, and I tried to attach the rather standard libgazebo_ros_gpu_laser.so plugin, as follows:

<model name="my_laser">
    <include>
        <uri>model://hokuyo</uri>
        <pose>-0.22 0 0.10500000000000001 0 0 3.141592653589793</pose>
        <plugin name="laser_plugin" filename="libgazebo_ros_gpu_laser.so" />
    </include>
</model>

I get this error:

Model[my_laser] is attempting to load a plugin, but detected an incorrect plugin type.

Indeed, from what I see in the example, the plugin is meant for <sensor> elements.

So can I access the sensor itself, and attach the plugin to it directly?

If not, how do you suggest I use the plugin?

Thanks,