Robot Operating System Cookbook

Compiling the plugin

We should make sure that Gazebo has been properly installed. To compile the preceding plugin, we will create ~/gazebo_plugin_tutorial/CMakeLists.txt and add the rule for compilation:

cmake_minimum_required(VERSION 2.8 FATAL_ERROR) 
find_package(gazebo REQUIRED) 
include_directories(${GAZEBO_INCLUDE_DIRS}) 
link_directories(${GAZEBO_LIBRARY_DIRS}) 
list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}") 
 
add_library(hello_world SHARED hello_world.cc) 
target_link_libraries(hello_world ${GAZEBO_LIBRARIES}) 
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") 

Next, we will create the build directory and compile the code:

$ mkdir ~/gazebo_plugin_tutorial/build
$ cd ~/gazebo_plugin_tutorial/build
$ cmake ..
$ make  

The successful ...