Tutorials/1.9/make world/control


 * 1) Tutorial: Programmatic World Control#

This plugin example programmatically modifies the gravity.


 * Prerequisite**: See the Plugin tutorial.


 * 1) Setup

1. Create a working directory

mkdir ~/world_edit; cd ~/world_edit

1. Create a file called `~/world_edit/world_edit.world`

gedit world_edit.world

Add the following contents to it:

   model://ground_plane

model://sun




 * 1) Code ##

1. Create a file called `~/world_edit/world_edit.cc`:

gedit world_edit.cc

Add the following content to it:


 * 1) include 
 * 2) include "gazebo/gazebo.hh"
 * 3) include "gazebo/common/common.hh"
 * 4) include "gazebo/transport/transport.hh"
 * 5) include "gazebo/physics/physics.hh"
 * 6) include "gazebo/msgs/msgs.hh"

namespace gazebo { class WorldEdit : public WorldPlugin {   public: void Load(physics::WorldPtr _parent, sdf::ElementPtr _sdf) {     // Create a new transport node transport::NodePtr node(new transport::Node);

// Initialize the node with the world name node->Init(_parent->GetName);

// Create a publisher on the ~/physics topic transport::PublisherPtr physicsPub = node->Advertise("~/physics");

msgs::Physics physicsMsg; physicsMsg.set_type(msgs::Physics::ODE);

// Set the step time physicsMsg.set_max_step_size(0.01);

// Change gravity msgs::Set(physicsMsg.mutable_gravity, math::Vector3(0.01, 0, 0.1)); physicsPub->Publish(physicsMsg); } };

// Register this plugin with the simulator GZ_REGISTER_WORLD_PLUGIN(WorldEdit) }


 * 1) The Code Explained ###

// Create a new transport node transport::NodePtr node(new transport::Node);

// Initialize the node with the world name node->Init(_parent->GetName);

We create a new node pointer, and initialize it to using the world name. The world name allows the node to communicate with one specific world.

// Create a publisher on the ~/physics topic transport::PublisherPtr physicsPub = node->Advertise("~/physics");

A publishers is created for sending physics messages on the "~/physics" topic.

msgs::Physics physicsMsg; physicsMsg.set_type(msgs::Physics::ODE); // Set the step time physicsMsg.set_dt(0.01); // Change gravity msgs::Set(physicsMsg.mutable_gravity, math::Vector3(0.01, 0, 0.01)); physicsPub->Publish(physicsMsg);

A physics message is created, and the step time and gravity are altered. This message is then published to the "~/physics" topic.

Create a CMake script called `~/world_edit/CMakeLists.txt`:
 * 1) Build ##

gedit CMakeLists.txt

Copy the following content into it:

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

include (FindPkgConfig) if (PKG_CONFIG_FOUND) pkg_check_modules(GAZEBO gazebo) endif include_directories(${GAZEBO_INCLUDE_DIRS}) link_directories(${GAZEBO_LIBRARY_DIRS})

add_library(world_edit SHARED world_edit.cc) target_link_libraries(world_edit ${GAZEBO_libraries})

Create a `build` directory

mkdir build; cd build

Compile the plugin

cmake ../; make


 * 1) Run Tutorial ##

First you need to add the folder to the `GAZEBO_PLUGIN_PATH` environment variable:

$ export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/world_edit/build/

Then in a terminal

cd ~/world_edit/build gazebo ../world_edit.world

You should see an empty world.

Now add a box to the world using the Box icon located above the render window. The box should float up and away from the camera.