How to create model plugin in ignition?

[mkschreder]

I was surprised to find just how little documentation there is available for the ignition gazebo.

I want to port a gazebo classic model plugin to ignition. How do I do this? Where are all the plugin interfaces? Which ones should be used?

Perhaps there are some examples of existing model plugins somewhere?

[srmainwaring]

Hi @mkschreder, there are lots of examples of model plugins in the src/systems folder:

https://github.com/gazebosim/gz-sim/tree/gz-sim7/src/systems/diff_drive

and a fully worked example of migrating a Gazebo 11 plugin to Gazebo Sim here:

https://gazebosim.org/api/sim/7/ardupilot.html

[mkschreder]

@srmainwaring very nice. Thanks.

PS. none of these links are readily discoverable from the main site. I ended up exploring the examples folder to make it work.

[serkanMzlm]

@srmainwaring very nice. Thanks.

PS. none of these links are readily discoverable from the main site. I ended up exploring the examples folder to make it work.

I agree, the documentation for Gazebo Sim is inadequate. It would be much better if it were organized like ROS2 documentation. The tutorial is useful for beginners, but as you delve into more complex topics like writing plugins, the documentation becomes harder to find and understand. The training on this link could be expanded and made more detailed, making it a helpful resource for both beginners and advanced users.