How to create a package for new gazebo plugins?

asked 2011-09-04 22:53:51 -0600

SAK
94 ●10 ●10 ●16

updated 2011-09-05 03:40:44 -0600

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

Hi,

I have created plugins for IR Sensor and Sonar Sensor. I want to create a package for both so that it can be tested on other computer and then submitted to ROS. Further i would like to mention here that i have created Sonar Sensor (IRSensor and its controller are already present in gazebo) by the name of SonarSensor and its controller named "sonar_array" as well. I have also done some changes to files called MultiRayShape and gz.h( i have added sonarIface in the gz.h). Similarly xacro files are also created for IRSensor and Sonar Sensor.

I would like to know how to create package for sonar sensor, IRSensor plugin and SonarSensor plugin. Any Help in this regard will be appreciated.

Regards, Saeed Anwar

answered 2011-09-04 23:06:53 -0600

Ugo
1620 ●20 ●34 ●48 http://www.shadowrobot.com/

Do you mean you want to create a stack to regroup your different packages?

You can use roscreate-stack and roscreate-pkg to create a stack or a package ( see this wiki page )

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Thank for your Reply. For time being i am only creating packages, not regrouping. I have seen this tutorial, but i does specify how to put files in the package. further how i will specify the path for the files to be put in the gazebo during package creation?

SAK ( 2011-09-04 23:15:24 -0600 )edit

If you depend on roscpp for example, you'll have a src and an include directory where you can put your sources. If your work contains files that should be copied to the gazebo package, may be you should propose a patch for this package?

Ugo ( 2011-09-04 23:40:29 -0600 )edit

I have two kind of files. some files are newly created (GazeboRosIr, and GazeboRosSonar, Sonarsensor, sonar_array) and some are modified files (MultiRayShape, gz). now how can i deal with all these

SAK ( 2011-09-04 23:47:35 -0600 )edit

Are those binaries or sources?

Ugo ( 2011-09-04 23:55:19 -0600 )edit

these are only source files like the one present in /opt/ros/diamondback/stacks/simulator_gazebo/gazebo_plugins (gazebo_ros_ir.cpp) and the xacro files present /opt/ros/diamondback/stacks/pr2_common/pr2_description/urdf/sensors (xx.gazebo.xacro and xx.urdf.xacro)

SAK ( 2011-09-05 00:00:52 -0600 )edit

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