A plugin for Gazebo using the Robot Raconteur communication system to provide a friendly object-oriented interface to the Gazebo API without requiring the modification of SDF world files. It is developed by Wason Technology, LLC.
The plugin is built using CMake. Gazebo and the Robot Raconteur SDK must be installed before building. See https://github.com/robotraconteur/robotraconteur for Robot Raconteur installation instructions.
To build, set RobotRaconteur_DIR to the directory of the extracted Robot Raconteur SDK.
First, set the GAZEBO_PLUGIN_PATH environmental variable to the folder containing `librobotraconteur_gazebo_system_plugin.so'.
The plugin is invoked using the command line. For the examples, use:
gazebo --verbose rip_sensors_world.world -s libgazebo_robotraconteur_server_plugin.so --robotraconteur-server-tcp-port=11346
The plugin will scan the command line to configure plugin options. The options that are recognized are:
--robotraconteur-server-nodename=nodename
Set the NodeName of the server plugin. Default is "org.gazebosim.gazebo.GazeboServer".
--robotraconteur-server-nodeid=nodeid
Set the NodeID of the plugin. Option is mutually exclusive with --robotraconteur-server-nodename
--robotraconteur-server-tcp-port=port
Set the TCP port to use for the plugin. Set to "sharer" to use the Robot Raconteur Port Sharer service.
--robotraconteur-server-tcp-announce
Enable the node discovery announce for Robot Raconteur. Search for service type org.gazebosim.gazebo.Server to find the service.
--robotraconteur-server-tcp-loadtls
Load a Robot Raconteur TLS certificate for the node to enable encryption over TCP. Enables use of rrs+tcp:// transport schemes.
--robotraconteur-server-password-file=filename
Load a file containing password information to enable authentication. Uses PasswordFileUserAuthenticator to authenticate users.
Clients using Python, MATLAB, and JavaScript will automatically generate object references to communicate with the server plugin. For the other languages, the file org.gazebosim.gazebo.robdef contains the full service definition to use with RobotRaconteurGen.
The examples directory contains a number of Python scripts demonstrating the usage of the plugin. While the examples are in Python, clients can be written in any language that Robot Raconteur supports.
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/robotraconteur/robotraconteur.git
git clone https://github.com/robotraconteur/robotraconteur_companion.git --recursive
git clone https://github.com/robotraconteur-contrib/RobotRaconteur_Gazebo_Server_Plugin.git
cd ..
catkin_make_isolated -DROBOTRACONTEUR_ROS=1 -DCMAKE_BUILD_TYPE=Release
source devel_isolated/setup.bash
This plugin is released under the Apache 2 license. Robot Raconteur itself is released under the Robot Raconteur commercial license.