gazebo仿真之plugin控制

官网教程：http://gazebosim.org/tutorials?cat=guided_i&tut=guided_i5
官网对plugin的介绍：
A plugin is a C++ library that is loaded by Gazebo at runtime. A plugin has access to Gazebo’s API, which allows a plugin to perform a wide variety of tasks including moving objects, adding/removing objects, and accessing sensor data.

step1：下载gazebo的相关支持包

sudo apt-get  install libgazebo7-dev(7是你的gazebo版本号)

step2：创建一个存放文件的文件夹

mkdir ~/velodyne_plugin
cd ~/velodyne_plugin

step3：创建velodyne_plugin.cc，并将以下内容输入：

#ifndef _VELODYNE_PLUGIN_HH_
#define _VELODYNE_PLUGIN_HH_

#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>

namespace gazebo
{
  /// \brief A plugin to control a Velodyne sensor.
  class VelodynePlugin : public ModelPlugin
  {
    /// \brief Constructor
    public: VelodynePlugin() {}

    /// \brief The load function is called by Gazebo when the plugin is
    /// inserted into simulation
    /// \param[in] _model A pointer to the model that this plugin is
    /// attached to.
    /// \param[in] _sdf A pointer to the plugin's SDF element.
    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
    {
      // Just output a message for now
      std::cerr << "\nThe velodyne plugin is attach to model[" <<
        _model->GetName() << "]\n";
    }
  };

  // Tell Gazebo about this plugin, so that Gazebo can call Load on this plugin.
  GZ_REGISTER_MODEL_PLUGIN(VelodynePlugin)
}
#endif

step4：编写Cmake文件，编译源代码

输入gedit CMakeLists.txt
输入以下内容：

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

# Find Gazebo
find_package(gazebo REQUIRED)
include_directories(${GAZEBO_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")

# Build our plugin
add_library(velodyne_plugin SHARED velodyne_plugin.cc)
target_link_libraries(velodyne_plugin ${GAZEBO_LIBRARIES})

step5 ：编译源代码，生成共享库

在velodyne_plugin文件加打开终端：

mkdir build
cd build
cmake ..
make

成功之后在build文件夹下生成一个共享库文件：libvelodyne_plugin.so

step6：采用新的world文件检验plugin的效果

新建world文件gedit velodyne.world并输入以下内容：

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default&#