Simbot Gazebo Plugins

Set of plugins used by the Phantom Simbot Gazebo simulation. Tested with Gazebo Harmonic.

• odometer_example - simple demo plugin from Gazebo repo
• camera_encoder - replacement for the default Gazebo camera sensor that also encoders H.264 frames on the GPU

Install

Clone this repo:

cd /root
git clone [email protected]:PhantomCybernetics/simbot_gz_plugins.git simbot_gz_plugins
cd simbot_gz_plugins

For the next step, GZ_SIM_SYSTEM_PLUGIN_PATH must be set to /root/simbot_gz_plugins/bin, this is where Gazebo will look for plugins.

For each plugin, do:

    cd PLUGIN_DIR/build
    cmake .. && make && make install

Plugin's .so will be installed into GZ_SIM_SYSTEM_PLUGIN_PATH.

Example use (Odometer Example)

To buil dit, first, load the plugin for the whole SDF world (scope must be a parent of where the plugin is then used!)

<?xml version="1.0"?>
<sdf version="1.9">
    <world name="demo_world">
        <plugin
            filename="OdometerExampleSystem"
            name="custom::MyOdometerSystem">
        </plugin>
    </world>
</sdf>

Then use it inside your URDF like so:

<sensor name="odometer_example" type="custom" gz:type="odometer_example">
    <always_on>true</always_on>
    <update_rate>30</update_rate>
    <topic>odometer_test</topic>
    <gz:odometer_example>
        <noise type="gaussian">
        <mean>0.00001</mean>
        <stddev>0.00001</stddev>
        </noise>
    </gz:odometer_example>
</sensor>

Launch the simulation, then gz topic -l should show the /odometer_test topic.