Overview of Gazebo Plugins

Plugin Types

There are currently 5 types of plugins

1. World
2. Model
3. Sensor
4. System.
5. Visual.

Hello WorldPlugin!

#include <gazebo/gazebo.hh>namespace gazebo{  class WorldPluginTutorial : public WorldPlugin  {    public: WorldPluginTutorial() : WorldPlugin()            {              printf("Hello World!\n");            }    public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf)            {            }  };  GZ_REGISTER_WORLD_PLUGIN(WorldPluginTutorial)}

GZ_REGISTER_WORLD_PLUGIN,GZ_REGISTER_MODEL_PLUGIN, GZ_REGISTER_SENSOR_PLUGIN, GZ_REGISTER_SYSTEM_PLU