Tutorials/1.9/plugins/model manipulation plugin


 * 1) Prerequisites

Overview Plugin Tutorial

> Note: If you're continuing from the previous tutorial, make sure you put in the proper `#include` lines for this tutorial that are listed below.


 * 1) Code

Source: `gazebo/examples/plugins/model_push`

Plugins allow complete access to the physical properties of models and their underlying elements (links, joints, collision objects). The following plugin will apply a linear velocity to its parent model.

cd ~/gazebo_plugin_tutorial gedit model_push.cc

Plugin Code:


 * 1) include 
 * 2) include 
 * 3) include 
 * 4) include 
 * 5) include 

namespace gazebo {    class ModelPush : public ModelPlugin {   public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) {     // Store the pointer to the model this->model = _parent;

// Listen to the update event. This event is broadcast every // simulation iteration. this->updateConnection = event::Events::ConnectWorldUpdateBegin(         boost::bind(&ModelPush::OnUpdate, this, _1)); }

// Called by the world update start event public: void OnUpdate(const common::UpdateInfo & /*_info*/) {     // Apply a small linear velocity to the model. this->model->SetLinearVel(math::Vector3(.03, 0, 0)); }

// Pointer to the model private: physics::ModelPtr model;

// Pointer to the update event connection private: event::ConnectionPtr updateConnection; };

// Register this plugin with the simulator GZ_REGISTER_MODEL_PLUGIN(ModelPush) }


 * 1) Compiling the Plugin ###

Assuming the reader has gone through the Simple World tutorial, all that needs to be done is to add the following lines to `~/gazebo_plugin_tutorial/CMakeLists.txt`

gedit ~/gazebo_plugin_tutorial/CMakeLists.txt

Add the following lines to the bottom of the file

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

Compiling this code will result in a shared library, ~/gazebo_plugin_tutorial/build/libmodel_push.so, that can be inserted in a Gazebo simulation.

cd ~/gazebo_plugin_tutorial/build cmake ../ make


 * 1) Running the Plugin ###

This plugin is used in the world file `examples/plugins/model_push/model_push.sdf`.

cd ~/gazebo_plugin_tutorial gedit model_push.sdf

 

model://ground_plane

model://sun

0 0 0.5 0 0 0              1 1 1

1 1 1



The hook to attach a plugin to a model is specified at the end of the model element block using:

 

To start simulation, run

cd ~/gazebo_plugin_tutorial/ gzserver -u model_push.sdf

The `-u` option starts the server in a paused state.

In a separate terminal, start the gui

gzclient

Click on the play button in the gui to unpause the simulation, and you should see the box move.