Attaching plugin to a model programmatically

Question

Is it possible to attach plugin to a model directly from the code (not in the sdf files or xml files). So I want to add the model programmatically inside the simulation and then attach a model plugin to that model by specifying the path to the plugin library.

Something like:

//load model

worldPtr_->InsertModelFile(modelName);

//get model pointer

modelPtr = getModelPtr();

//attach a plugin to that model

attachPlugin(modelPtr, pluginName)

The code above should be executed inside the world plugin. Is something like that even possible?

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Originally posted by jelavice on Gazebo Answers with karma: 5 on 2017-05-28

Post score: 0

Answer 1

This can be done by manually calling the function "Create" with prototype static TPtr Create( const std::string & _filename, const std::string & _name). This function is defined in the ModelPlugin.hh header. After that, the "Load" function with prototype void Load(physics::ModelPtr _parent, sdf::ElementPtr /_sdf/) should be called.

This will load the plugin dynamically and register it to the gazebo server.

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Originally posted by jelavice with karma: 5 on 2017-05-29

This answer was ACCEPTED on the original site

Post score: 0