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

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JAEYONG HAN
JAEYONG HAN on 28 Jul 2021
Answered: Gaurav Bhosale on 29 Jul 2021
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

Answers (1)

Gaurav Bhosale
Gaurav Bhosale on 29 Jul 2021
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

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