![]() 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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