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Gazeb Plugin Intro

Description: A basic tutorial that shows users how to create a gazebo plugin.

Tutorial Level: BEGINNER

Work in progress.

Install ROS

Install the simulator_gazebo stack.

Create a Gazebo Plugin

Create a ROS package in a scratch workspace and add its path to `ROS_PACKAGE_PATH

roscreate-pkg gazebo_tutorials gazebo
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:`pwd`

Create a very simple plugin as described here and save the file as gazebo_tutorials/src/simple_world_plugin.cpp:

#include "gazebo.h"

namespace gazebo
{
  class PluginTemplate : public Plugin
  {
    public: PluginTemplate() : Plugin() 
            {
            }

    public: void Load( sdf::ElementPtr &_sdf )
            {
            };

    GZ_REGISTER_PLUGIN(PluginTemplate)
  };
}

Update gazebo_tutorials/CMakeLists.txt by adding the following lines:

rosbuild_add_library(gazebo_tutorials src/simple_world_plugin.cpp)