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For now, the best thing to do is to follow the template provided in gazebo_plugins or mimic any of the examples in gazebo_plugins. Also take a look at gazebo configuration page to see how to setup plugin paths in your own packages.

Please keep in mind, plugin API's will change soon in F-Turtle, and will require some significant migratory changes/rewrites.

Proceeding on with the current setup, if you take a look at the template presented, there are 4 relevant member functions,

• constructor - this is called once when the plugin is instantiated in Model::Load(...)
• InitChild() - this is called once during Model::Init()
• UpdateChild() - this is called once per Model::Update() call
• FiniChild() - this is called once when a Model / Body is deleted, before destruction
• destructor

The new plugin API will be simpler and more flexible, and will require rewrite work.

For now, the best thing to do is to follow the template provided in gazebo_plugins or mimic any of the examples in gazebo_plugins. Also take a look at gazebo configuration page to see how to setup plugin paths in your own packages.

Please keep in mind, plugin API's will change soon in F-Turtle, and will require some significant migratory changes/rewrites.

Proceeding on with the current setup, if you take a look at the template presented, there are 4 relevant member functions,

• constructor - this is called once when the plugin is instantiated in Model::Load(...)
• InitChild() - this is called once during Model::Init()
• UpdateChild() - this is called once per Model::Update() call
• FiniChild() - this is called once when a Model / Body is deleted, or simulator is shutting down, before destructiondestruction happens
• destructor

The new plugin API will be simpler and more flexible, and will require rewrite work.

For now, the best thing to do is to follow the template provided in gazebo_plugins or mimic any of the examples in gazebo_plugins. Also take a look at gazebo configuration page to see how to setup plugin paths in your own packages.

Please keep in mind, plugin API's will change soon in F-Turtle, and will require some significant migratory changes/rewrites.

Proceeding on with the current setup, if you take a look at the template presented, there are 4 relevant member functions,

• constructor - this is called once when the plugin is instantiated in Model::Load(...)
• InitChild() - this is called once during Model::Init()
• UpdateChild() - this is called once per Model::Update() call
• FiniChild() - this is called once when a Model / Body is deleted, or simulator is shutting down, before destruction happens
• destructor

The new plugin API will for gazebo 1.0.0 RC to be simpler and more flexible, and will require released with Fuerte is described on the new gazebo wiki. Conversion from old plugin to the new format requires rewrite work.