README.md

World plugins for Gazebo

Rviz camera synchronizer plugin

Description

• Synchronize rviz camera position and orientation according to gazebo camera

Usage

After building, activate by adding the following to your world definition.

  ...
  <world name="...">
  ...
    <plugin name="mrs_gazebo_rviz_camera_synchronizer" filename="libMRSGazeboRvizCameraSynchronizer.so" >
      <target_frame_id>gazebo_user_camera</target_frame_id>
      <world_origin_frame_id>uav1/gps_origin</world_origin_frame_id>
      <frame_to_follow>uav1::base_link</frame_to_follow>
    </plugin>
  ...

Static transform republisher plugin

Description

• Republish tf messages from sensors from topic \tf_gazebo_static to \tf_static using tf2::StaticTransformBroadcaster

Usage

After building, activate by adding the following to your world definition.

  ...
  <world name="...">
  ...
    <plugin name="mrs_gazebo_static_transform_republisher_plugin" filename="libMRSGazeboStaticTransformRepublisher.so"/>
  ...