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PX4 / PX4-SITL_gazebo-classic

Set of plugins, models and worlds to use with OSRF Gazebo Simulator in SITL and HITL.
http://dev.px4.io/simulation-gazebo.html
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How to use libgazebo_motor_model.so plugin in my project #865

Open jfaure6 opened 2 years ago

jfaure6 commented 2 years ago

Hello Github.

After compiling and installing the libs and plugins on my computer, I want to use it in my project, especially the libgazebo_motor_model.so plugin. How can I integrate it in my project ? Maybe by editing my CmakeLists.txt ? I'm a beginner in CMake...

Thanks in advance.

huiyulhy commented 2 years ago

you'll need to call the plugin in your sdf.jinja file for your model, and point to the libgazebo_motor_model.so plugin. An example of calling the plugin in the sdf.jinja file can be found in the gazebo_plane iris model. Refer to Tools -> sitl_gazebo -> models -> plane -> plane.sdf.jinja

jfaure6 commented 2 years ago

Thank you for your answer ! I managed to put the libgazebo_motor_model.so in my project. Attched to this message, there are the important files used to spawn the px4_vision (xacro extension in fact, but txt to import here).

It spawns well, but when I launch my flocking service for my project, nothing happens and my rotors and drones don't take off.

Do you have an idea of what to do ? base.txt spawn_px4_vision.txt body_macro.txt motor_macro.txt