Skip to content

Introduction

made easy

🚀 Lets Make Gazebo Sim Plugin Easy

Motivation
As a beginer I personally find gazebo plugin to be very hard. In 2022,I made a bunch of tutorial for gazebo classic similary will do for gazebo sim. I always thought:

  • what has changed from gazebo classic to sim?
  • how gazebo plugin internally works?
  • what is ECS? what are entity/components?
  • where/how to read gazebo sim doc & find useful info
  • how to know which function to use?

Finally, I'm here to answer all what where & why. I feel so happy that I can share it with the world. Though this tutorials we decode all the secrets 🤫. We will learn every line of code in detail😍.

"Difficult part of gazebo plugin is not logic building rather how, when & what function, msg, class & Components(ECS) to use to code it. "

Prerequisites
These are certain thing you need to know even before watching these tutorial series like ros2, basic of gazebo sim, c++17 etc. Some good reference are:

  1. OOPS in C++
    At least some know of class, inheritance, constructor, virtual function

  2. Smart Pointers
    As we advance you will see will see that gazebo uses smart pointer a lot to point to classes & function

  3. Entity Component System (ECS)
    ECS is the building block of gazebo sim & ecs has be used in game engine for a long time now. Its better if you have some basic understanding of it.

A recommendation to download Visual Studio Code