Documentation for Gazebo Plugins

[TalhaKarabulut]

Hey,

I am looking for a detailed documentation of Gazebo Harmonic plugins.
It would be great to have a list of all available plugins and a documentation on how to implement them.

I can only find some examples in a tutorial style. See: Sensors — Gazebo harmonic documentation (gazebosim.org).

For me, it is sometimes very unclear how to implement the plugins, since in the course the code examples are for Ignition Gazebo, but I want to use Gazebo Harmonic.

For example in the course we have:

    <!-- IMU Plugin -->
    <gazebo>
        <plugin
            filename="libignition-gazebo-imu-system.so"
            name="ignition::gazebo::systems::Imu">
        </plugin>
    </gazebo>

and I somehow found the correct way to do it for ROS 2 Humble + Gazebo Harmonic (that’s what I am using on my PC):

    <!-- IMU Plugin -->
    <gazebo>
        <plugin
            filename="gz-sim-imu-system"
            name="gz::sim::systems::Imu">
        </plugin>
    </gazebo>

I found this through the tutorial I mentioned before, but a tutorial is not a full documentation…

For example, for another project I would like to implement a GPS sensor and the Ackermann steering system, but I cannot find a documentation on how to implement this in Gazebo Harmonic.

Can anyone share a link with a proper list of plugins and explanations about the implementation considering the version?

[girishkumar.kannan]

Hi @TalhaKarabulut ,

You can find all the model and sensor plugins implemented so far in Gazebo Sim on the below website:

https://gazebosim.org/api/sim/8/namespacegz_1_1sim_1_1systems.html

Note: Navigating through that website is not quite easy and you can get lost within multiple links very quickly, so browse with undivided attention!

Regards,
Girish