Struggling with Custom World Plugins – Want Tips or Gotchas to Watch Out For?

General
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Hey folks,

I have been diving into Gazebo for a robotics sim project & while the default plugins & models work fine, I started experimenting with custom world plugins – and it is been a bit of a rabbit hole. :sweat_smile:

I followed the tutorials & managed to compile the plugin but it is either not loading or throwing some super cryptic errors. I am not even sure if it is a problem with how I am referencing it in the .world file or something else entirely. Has anyone else faced this?

Also, do you usually use CMake or another setup for building your plugins? Any common mistakes or “aha!” moments that saved you time would be appreciated. I feel such as I am missing something small but important.

By the way, I took an AWS Devops Course to improve my automation skills & I want to know if anyone has integrated Gazebo simulations with cloud pipelines?

Also i have check this Simple base project for creating gazebo plugins still need tips,Want to hear your workflow or tips when creating custom plugins for worlds – ones that interact with multiple models or environments.

Thank you.:slight_smile:

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I have a plugin template you can use at GitHub - EmmanuelMess/gazebo-plugin-example: This is a fully dockerized gazebo plugin example . This should give you a running example without any errors.
Okay I’m blind, you did run my plugin, please make an issue with the error in the GitHub maybe I can help you.
Other than that, in my experience, difficult to diagnose errors to happen, make sure that you are careful when using resources from gazebo classic, as some features don’t work (texture scripts, and the way some things are done changed).
Also, depending on what you need to do, you either can manage with an sdf (usually for simple sensor only simulations), or you will need an urdf (eg for control simulations), choosing correctly will skip you the hassle of translating later which can be painful.