C++ file for Gazebo plugin "GazeboCoSimPlugin.so"

Hi, I successfully tried two examples, named "Perform Co-Simulation between Simulink and Gazebo" and "Control a Differential Drive Robot in Gazebo with Simulink" with the plugin named"libGazeboCoSimPlugin.so". Now I want to see how they built the plugin, and want to write my own.

But, I can't find C++ file for the plugin.

Where can I find it? or someone can send me?

please share your knowledge about it.

Thanks

Answer 1

[Gaurav Bhosale]

Hi Jaeyong,

As you already have ROS2 and Gazebo VM, I will provide you details with respect to same VM.

The Gazebo plugin source files and executables are present /home/user/src/GazeboPlugin

Further, /home/user/src/GazeboPlugin/src/gazeboplugin/GazeboPlugin.cpp is the main 'World_Plugin' initializes and controls several handalers. In addition, /home/user/src/GazeboPlugin/src/gazeboplugin/CMakeLists.txt generates libGazeboCoSimPlugin.so at /home/user/src/GazeboPlugin/export/lib location. So, you can modify GazeboPlugin.cpp or write your own plugin and link with libGazeboCoSimPlugin.so in the world file.

Please, let me know, if you have further doubts or questions.

Thanks.

With Regards,

Gaurav Bhosale

Answer 2

[bo zhang]

Hello!

i didn't finish the example of Ur10BasicWithPlugin.world,can you help me? can yoi show your Ur10BasicWithPlugin.world?

Looking forward to your reply!

[Gaurav Bhosale]

You need to download https://www.mathworks.com/support/product/robotics/ros2-vm-installation-instructions-v6.html

Ur10BasicWithPlugin.world is present in this VM. Make sure, you download latest VM (v6).