Tutorials/1.9/plugins


 * Prerequisites:** Install Gazebo


 * Code:** The source code for the following tutorials is located in `/examples/plugins`

These tutorials cover the creation and use of plugins to programmatically control world, model, and sensor state.

1. Overview of Plugins, and creating simple world plugin

This tutorial describes plugins, and shows how to create a simple world plugin and the corresponding world file for the plugin.

1. Manipulating Models through Plugins

This tutorial shows how to manipulate a model using events and the physics library.

1. Inserting models

This tutorial demonstrates multiple methods of inserting models into a simulation environment.

1. Modify World Properties

This tutorial shows how to modify world properties, such as ambient color and the physics time step.

1. System plugin for the GUI

This tutorial shows how to make a system plugin that has access to the graphical user interface.

1. Notes on how to convert Gazebo v1.0 plugins to v1.9

This tutorial describes the changes made to the plugin architecture, and how to migrate old plugins.