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2016-06-14 09:09:35 -0600 commented answer Ros-independent Gazebo plugin for Ardupilot's SITL.

Hi, Peter, thanks for your answer. Since we indeed need some extra libraries for this plugin, we have decided to make it available separately on github: https://github.com/01org/gazebo-sitl. Everyone is welcome to test and contribute with it. Also every feedback will be greatly appreciated.

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2016-05-05 13:24:17 -0600 asked a question Ros-independent Gazebo plugin for Ardupilot's SITL.

Hey, guys.

I've been working with my team in a Gazebo plugin for Ardupilot's SITL that does not depend on ROS. Basically, the plugin tracks a target present in the World and sends a waypoint to the SITL simulator based on the position of the target, while continuously updating the pose of the model to which it is attached according to the pose of the aircraft being simulated on SITL.

The plugin uses several Gazebo API's routines and communicates with Ardupilot's SITL through Mavlink, but it's still straightforward enough to be used as reference for Gazebo/Mavlink beginners, or as a base for more elaborated plugins.

My question is if there's interest of the community to have this plugin integrated as part of the set of pre-existing Gazebo plugins. And, if so, which steps should be taken to integrate it.

Thanks.

[Figure: The plugin is attatched to the quadrotor, causing it to follow the gray sphere.] image description

2016-04-25 20:36:18 -0600 asked a question Can't make visibility flags work properly with Depth Camera

I followed the instructions given here to try to make my model invisible to the DepthCamera. I was able to make it invisible, indeed, setting it's visibility flag to GZ_VISIBILITY_GUI only. However, when I set this flag alone, my model becomes unselectable. Since I still need it to be selectable, I tried to set both flags (GZ_VISIBILITY_GUI | GZ_VISIBILITY_SELECTABLE), but when I do that, my model becomes VISIBLE.

I have a simple Visual plugin to see these flags when loading the model:

#include "gztarget_vplugin.hh"
using namespace gazebo;

GZ_REGISTER_VISUAL_PLUGIN(TargetVisual)

void TargetVisual::Load(rendering::VisualPtr _parent, sdf::ElementPtr /*_sdf*/)
{
    this->visual = _parent;
    this->visual->SetVisibilityFlags(GZ_VISIBILITY_GUI | GZ_VISIBILITY_SELECTABLE);
}

I've just started playing with Gazebo, so I'm afraid I'm doing something wrong. Does anyone have any clue of why that is happening? Thanks.