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I am new to Gazebo and for my application I would need to add several dynamic models, the state of which influences the robot models present in the world. A simple example could be a (time varying) wind model that needs to be accessed from within the robot models in order to compute aerodynamic forces.

From the gazebo documentation I was not able to work out what is the best way to implement something like the above. Any suggestion?

Thanks in advance.


Originally posted by Renzo on Gazebo Answers with karma: 1 on 2013-01-14

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I would create a WorldPlugin that contains the wind model. This model could either publish messages about the wind, or directly influence models.

Here is a tutorial about WorldPlugins: http://gazebosim.org/wiki/Tutorials/1.3/make_world/control


Originally posted by nkoenig with karma: 7676 on 2013-01-14

This answer was ACCEPTED on the original site

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Original comments

Comment by Renzo on 2013-01-14:
Creating a WorldPlugin makes perfect sense. However I am not at all clear how I would get hold of the affected robot models in order to influence them directly (e.g. by applying a force). Could you point me to a place in the Gazebo code in which is shown how the world directly influences a model?

Comment by scpeters on 2013-01-14:
You can try looking at the SpringTestPlugin and also the Gazebo physics API.

Comment by Antares on 2015-05-27:
Could you please fixed that broken links? I'm trying to do the same, but I cannot look into those links

Comment by scpeters on 2015-05-27:
programmatic world control tutorial, physics api

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