C++ file for Gazebo plugin "GazeboCoSimPlugin.so"

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Hi, I successfully tried two examples, named "Perform Co-Simulation between Simulink and Gazebo" and "Control a Differential Drive Robot in Gazebo with Simulink" with the plugin named"libGazeboCoSimPlugin.so". Now I want to see how they built the plugin, and want to write my own.
But, I can't find C++ file for the plugin.
Where can I find it? or someone can send me?
please share your knowledge about it.

Answers (2)

Gaurav Bhosale
Gaurav Bhosale on 29 Jul 2021
Hi Jaeyong,
As you already have ROS2 and Gazebo VM, I will provide you details with respect to same VM.
The Gazebo plugin source files and executables are present /home/user/src/GazeboPlugin
Further, /home/user/src/GazeboPlugin/src/gazeboplugin/GazeboPlugin.cpp is the main 'World_Plugin' initializes and controls several handalers. In addition, /home/user/src/GazeboPlugin/src/gazeboplugin/CMakeLists.txt generates libGazeboCoSimPlugin.so at /home/user/src/GazeboPlugin/export/lib location. So, you can modify GazeboPlugin.cpp or write your own plugin and link with libGazeboCoSimPlugin.so in the world file.
Please, let me know, if you have further doubts or questions.
With Regards,
Gaurav Bhosale

bo zhang
bo zhang on 19 Jun 2022
i didn't finish the example of Ur10BasicWithPlugin.world,can you help me? can yoi show your Ur10BasicWithPlugin.world?
Looking forward to your reply!
  1 Comment
Gaurav Bhosale
Gaurav Bhosale on 20 Jun 2022
Ur10BasicWithPlugin.world is present in this VM. Make sure, you download latest VM (v6).

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