matlab gazebo,Create Gazebo plugin package for Simulink

Create a folder in a local directory.

folderPath = fullfile(pwd,'customMessage')

folderPath =

'/tmp/Bdoc21a_1606923_27222/tpc3c3e420/robotics-ex62907275/customMessage'

mkdir(folderPath)

Create a .proto file inside the folder and define protobuf custom message fields.

messageDefinition = {'message MyPose'

'{'

' required double x = 1;'

' required double y = 2;'

' required double z = 3;'

'}'};

fileID = fopen(fullfile(folderPath,'MyPose.proto'),'w');

fprintf(fileID,'%s\n',messageDefinition{:});

fclose(fileID);

Use the gazebogenmsg function to generate dependences in the created folder.

gazebogenmsg(folderPath)

Validating ...

Selected compiler details: "g++ 8.3.0"

[libprotobuf WARNING] No syntax specified for the proto file: MyPose.proto. Please use 'syntax = "proto2";' or 'syntax = "proto3";' to specify a syntax version. (Defaulted to proto2 syntax.)

Building shared library ...

Building MEX for "MyPose.proto" file ...

Building with 'g++'.

MEX completed successfully.

Building with 'g++'.

MEX completed successfully.

Building custom message utilities ...

DONE.

To use the gazebo custom messages, execute following commands:

addpath('/tmp/Bdoc21a_1606923_27222/tpc3c3e420/robotics-ex62907275/customMessage/install')

savepath

Use the following commands to add and save the install path.

addpath(fullfile(folderPath,'install'))

savepath

Create a Gazebo plugin package 'MyPlugin' inside the custom message folder using the packageGazeboPlugin function.

packageGazeboPlugin(fullfile(folderPath,'MyPlugin'),folderPath)