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Any tutorial for Visual plugin with ROS?

I was trying to LED like or traffic light like simulation and i found few questions and video.

https://www.youtube.com/watch?v=Ze7JCK4wsiA https://www.youtube.com/watch?v=8YPFGZ-d-hc

https://answers.gazebosim.org//question/1377/visuals-material-update-from-modelplugin-in-ros-gazebo/

It seems like there is model_visual example in osrf github https://github.com/osrf/gazebo/tree/gazebo11/examples/plugins/model_visuals

but i coudln't fully understand how this works and it give me a trouble when i integrated with ROS. any one know how to use visual plugin or visual msg?

little advice or reference sites will help, thx!

  • If there is another way to modify link color with ROS msg, let me know!