Plugins

Plugins

# Import the element creator
from pcg_gazebo.parsers.sdf import create_sdf_element

plugin_args = dict(
    robotNamespace='robot',
    topic='/topic',
    args=dict(
        param1=1,
        param2=True,
        param3=dict(
            param31='option',
            param32=3.434534
        ),
        param4=[3.1, 4.5, 8.5]
    )
)
plugin = create_sdf_element('plugin', plugin_args)
plugin.name = 'some_plugin'
plugin.filename = 'libplugin.so'
print(plugin)

<plugin filename="libplugin.so" name="some_plugin"/>

plugin = create_sdf_element('plugin', plugin_args)
plugin.value = plugin_args
plugin.name = 'another_plugin'
plugin.filename = 'libanother_plugin.so'
print(plugin)

<plugin filename="libanother_plugin.so" name="another_plugin">
  <args>
    <param3>
      <param31>option</param31>
      <param32>3.434534</param32>
    </param3>
    <param1>1</param1>
    <param2>1</param2>
    <param4>3.1 4.5 8.5</param4>
  </args>
  <topic>/topic</topic>
  <robotNamespace>robot</robotNamespace>
</plugin>

Some plugin default constructors

from pcg_gazebo.parsers.sdf import Plugin

gazebo_ros_control

print(Plugin.gazebo_ros_control(
    name='gazebo_ros_control', 
    robot_namespace='/my_robot',
    control_period=10,
    robot_param='/robot_description',
    robot_sim_type=None))

<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
  <controlPeriod>10</controlPeriod>
  <robotNamespace>/my_robot</robotNamespace>
  <robotParam>/robot_description</robotParam>
</plugin>

gazebo_ros_bumper

print(Plugin.gazebo_ros_bumper(
    name='gazebo_ros_bumper', 
    robot_namespace='/my_robot',
    bumper_topic_name='bumper_states',
    frame_name='world'))

<plugin filename="libgazebo_ros_bumper.so" name="gazebo_ros_bumper">
  <robotNamespace>/my_robot</robotNamespace>
  <frameName>world</frameName>
  <bumperTopicName>bumper_states</bumperTopicName>
</plugin>

gazebo_ros_ft_sensor

print(Plugin.gazebo_ros_ft_sensor(
    name='gazebo_ros_ft_sensor', 
    robot_namespace='my_robot',
    joint_name='some_joint', 
    topic_name='force_torque_sensor_output',
    gaussian_noise=0.05, 
    update_rate=0))

<plugin filename="libgazebo_ros_ft_sensor.so" name="gazebo_ros_ft_sensor">
  <jointName>some_joint</jointName>
  <updateRate>0</updateRate>
  <robotNamespace>my_robot</robotNamespace>
  <topicName>force_torque_sensor_output</topicName>
  <gaussianNoise>0.05</gaussianNoise>
</plugin>