How to add Models and Plugins to turtlebot_simulator empty worlds?
I've edited the default turtlebot_empty_world to include the human model I have created. I'm just looking to have it slide forward along the ground for a set distance so the turtlebot can attempt to follow it with the POMDP program I have running.
I'm trying to follow this tutorial but I can't quite work out how to create a plugin, build it and have it work with the turtlebot simulator empty world launch.
Thanks.
Edit:
Would I be able to just add to my model in the .world file:
<plugin filename="libanimate_pose.so" name="pose_animation" />
Then add the cmake file stuff in the turtlebot_gazebo cmake file:
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
include (FindPkgConfig)
if (PKG_CONFIG_FOUND)
pkg_check_modules(GAZEBO gazebo)
endif()
include_directories(${GAZEBO_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})
add_library(animate_pose SHARED animate_pose.cc)
target_link_libraries(animate_pose ${GAZEBO_libraries})
And build and hope it works?
Edit:
The Turtlebot_gazebo Directory doesn't contain a CMakeList.txt so I tried to create one and build but it didn't work surprisingly. I've added the plugin line to the world but it is obviously erroring because the plugin file doesnt exist.
/opt/ros/hydro/share/turtlebot_gazebo/worlds/animate_pose.cc