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Which frame does GetRelativeLinearVel() return the velocity in? I suppose that the returned velocity is in the body fram

Which frame does GetRelativeLinearVel() return the velocity in? I would suppose that the returned velocity is in the bod

Is it possible to attach plugin to a model directly from the code (not in the sdf files or xml files). So I want to add the model programmatically inside the simulation and then attach a model plugin to that model by specifying the path to the plugin library.

Something like:

//load model

worldPtr_->InsertModelFile(modelName);

//get model pointer

modelPtr = getModelPtr();

//attach a plugin to that model

attachPlugin(modelPtr, pluginName)

The code above should be executed inside the world plugin. Is something like that even possible?

This can be done by manually calling the function "Create" with prototype static TPtr Create( const std::string & _

Attaching plugin to a model programmatically Is it possible to attach plugin to a model directly from the code (not in t

Would it be possible to define a message that transports a pointer to the world class (physics::WorldPtr) in gazebo and send such a message to another node. The upshot would be having something like msgs::WorldPtr.

If it ain't possible, can the same be done with a model pointer?

By node I meant another executable. Since I am running it from a different terminal this would mean that my executable i

Hi, thanks for the answer. Ideally, I'd like to access the world from a different node. I don't see any other way than s

Is it possible to send a world pointer in a message? Would it be possible to define a message that transports a pointer

Is it possible to send a world pointer in a message? Would it be possible to define a message that transports a pointer

Is it possible to send a world pointer in a message? Would it be possible to define a message that transports a pointer

Btw can you think of any good reason my plugin is not receiving any messages? As far as I understood, there should be a

That solved the error, thanks.

I am trying to subscribe to the model msgs in gazebo, however I cannot bind the callback function in a correct way. This is the code:

class WorldInterface : public WorldPlugin

{

public:


    void messageReceived1(const msgs::Model& _msg)
    {
        std::cout << "Got the message!" << std::endl;
        modelLoaded_ = true;
    }

    void Load(physics::WorldPtr _parent, sdf::ElementPtr _sdf)
    {

        transport::NodePtr node(new transport::Node());
        node->Init();


        transport::SubscriberPtr modelSub =
                node->Subscribe("~/model/info", std::bind(&gazebo::WorldInterface::messageReceived1, this, _1));

.....
}
};

The error I get is:

error: no matching function for call to ‘gazebo::transport::Node::Subscribe(const char [13], std::_Bind_helper<false, void (gazebo::WorldInterface::*)(const gazebo::msgs::Model&), gazebo::WorldInterface*, boost::arg<1>&>::type)’
     node->Subscribe("~/model/info", std::bind(&gazebo::WorldInterface::messageReceived1, this, _1));

Subscriber with member callback function I am trying to subscribe to the model msgs in gazebo, however I cannot bind the