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gz_sim-ss14

Homework repository for the gazebo simulation seminar

Notes

This software has been tested with Gazebo 1.9.5, that has been shipped by ROS Hydro (i've installed ros-hydro-desktop-full).

Instructions Homework1

  • Go to the homework1/ folder
  • mkdir build/
  • cd build
  • cmake ..
  • make
  • cd ..

This will build a server side plugin, that can control the world in the running simulation. You can load it by using:

gzserver -s $ABSOLUTE_PATH_TO_REPO/homework1/build/libmove_objects.so worlds/homework1.sdf

and

gzclient

in another terminal

You should then see a sphere and a box, that are both moving at the same velocity.

Instructions Homework2

  • Go to the homework2/ folder
  • mkdir build/
  • cd build
  • cmake ..
  • make
  • cd ..
  • Register your build/ folder to your gazebo plugin path:
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/FULL/PATH/TO/homework2/build

The plugin in this exercise is a WorldPlugin. It must be findable by GAZEBO via the GAZEBO_PLUGIN_PATH variable. If you want to start the plugin for homework2, just start your gazebo with:

gazebo /PATH/TO/homework2/worlds/homework2.sdf

You should see how:

  1. Two objects fall on the ground
  2. The sphere begins to move and drags the Box with him via a Joint
  3. The Joint will be detached from both objects. The sphere will move alone then