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Mastering ROS for Robotics Programming - Second Edition by Jonathan Cacace, Lentin Joseph

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Creating a basic world plugin

We will look at a basic Gazebo world plugin and try to build and load it in Gazebo.

Create a folder called gazebo_basic_world_plugin in a desired folder and create a CPP file called hello_world.cc:

    $ mkdir gazebo_basic_world_plugin && cd gazebo_basic_world_plugin 
    $ nano hello_world.cc  

The definition of hello_world.cc is as follows:

//Gazebo header for getting core gazebo functions #include <gazebo/gazebo.hh> //All gazebo plugins should have gazebo namespace namespace gazebo { //The custom WorldpluginTutorials is inheriting from standard worldPlugin. Each world plugin has to inheriting from standard plugin type. class WorldPluginTutorial : public WorldPlugin { public: WorldPluginTutorial() : WorldPlugin() { ...

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