Developing a Gazebo plugin
Gazebo plugins are components that extend the functionality of the Gazebo simulator. They allow users to add custom behavior to the simulation, such as controlling sensors, actuators, or environments, and interfacing with other software such as ROS 2. Gazebo plugins can be categorized into two main types: world plugins, which modify the simulation environment, allowing you to control how the world behaves or is initialized (e.g., setting up the environment and adding objects), and model plugins, which are attached to specific models (e.g., robots or sensors) to control their behavior, such as simulating a robot’s motion, controlling actuators, or interfacing with sensors. The plugins can be loaded into Gazebo at runtime via SDF or URDF files. Let’s develop a new model plugin that directly controls a differential drive robot by sending control commands on the Gazebo topic for twist velocity. The plugin receives the control data from an external...
