We are just using a simple red box to represent the camera, though typically you could use a mesh file for a better representation. The first elements of this block are an extra link and joint added to the URDF file that represents the camera. You can look inside rrbot.xacro to follow the explanation. In this section, we will review a simple RGB camera attached to the end of the RRBot pendulum arm. Cameraĭescription: provides ROS interface for simulating cameras such as wge100_camera by publishing the CameraInfo and Image ROS messages as described in sensor_msgs.
G clip plugin how to#
If there are some sections blank, it means that this author got tired of documenting every plugin and you should fill in the area with your experience should you have knowledge and examples of how to use the particular plugin. For example, "Block Laser" is from the GazeboRosBlockLaser class and can be found in the file gazebo_plugins/src/gazebo_ros_block_laser.cpp. The names of each section is derived from the plugin class name. We suggest you review them in order because more detail is covered in the first couple of plugins and you can learn some of the concepts from the various plugins' documentation. The following sections document all of the plugins available in the gazebo_plugins.
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Upon loading the robot model within Gazebo, the camera_controller code will be given a reference to the sensor, providing access to its API.Īlso, it will be give a reference to the SDF element of itself, in order to read the plugin parameters passed to it. So the element describing that sensor must be given a reference to that link. Sensors in Gazebo are meant to be attached to links, Specifying sensor plugins is slightly different. The diffdrive_plugin code will be given a reference to the model itself, allowing it to manipulate it.Īlso, it will be give a reference to the SDF element of itself, in order to read the plugin parameters passed to it. Upon loading the robot model within Gazebo, It is wrapped with the pill, to indicate information passed to Gazebo. In short, the ModelPlugin is inserted in the URDF inside the element. VisualPlugins, to provide access to the rendering::Visual API.SensorPlugins, to provide access to the sensors::Sensor API.
ModelPlugins, to provide access to the physics::Model API.Plugin TypesĪnd all of them can be connected to ROS, but only a few types can be referenced through a URDF file: Make sure you have the RRBot setup as described in the previous tutorial on URDFs.Īlso make sure you have understood the use of the element within the URDF description, from that same tutorial. In this tutorial we explain both how to setup preexisting plugins and how to create your own custom plugins that can work with ROS. Gazebo plugins give your URDF models greater functionality and can tie in ROS messages and service calls for sensor output and motor input.
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