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Gazebo Plugin Intro

Description: A basic tutorial that shows users how to create a gazebo plugin.

Tutorial Level: BEGINNER

Users are highly discouraged from using the documentation and tutorials for Gazebo on this page. Gazebo is now a stand alone project at See documentation there, thanks!

  • /!\ Disclaimer; as of now (12/28/2012), this tutorial doesn't work with catkin since the dependency (gazebo pkg) is not yet catkinized.

Install ROS

Install the simulator_gazebo stack.

Create a Gazebo Plugin

Create a ROS package in a scratch workspace and add its path to `ROS_PACKAGE_PATH

$ roscreate-pkg gazebo_tutorials gazebo

$ catkin_create-pkg gazebo_tutorials gazebo


Create a very simple plugin as described here and save the file as gazebo_tutorials/src/simple_world_plugin.cpp:

#include "gazebo.hh"
#include "common/common.h"
#include <stdio.h>

namespace gazebo
  class HelloWorld : public WorldPlugin
    public: HelloWorld() : WorldPlugin() 
              printf("Hello World!\n");

    public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf)


Update gazebo_tutorials/CMakeLists.txt by adding the following lines:

rosbuild_add_library(gazebo_tutorials src/simple_world_plugin.cpp)

add_executable(gazebo_tutorials src/simple_world_plugin.cpp)
target_link_libraries(gazebo_tutorials ${catkin_LIBRARIES})

Update gazebo_tutorials/manifest.txt by adding the following block:

    <gazebo plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" />

Compiling the Plugin

rosmake gazebo_tutorials

Creating a World file

Save the following file as gazebo_tutorials/worlds/

<?xml version="1.0"?> 
<gazebo version="1.0">
  <world name="default">
    <!-- A ground plane -->
    <include filename="ground_plane.model"/>

    <!-- A global light source -->
    <include filename="sun.light"/>

    <!-- reference to your plugin -->
    <plugin name="gazebo_tutorials" filename=""/>

Running the plugin

Create the following launch file gazebo_tutorials/launch/hello.launch:

  <!-- set use_sim_time flag -->
  <param name="/use_sim_time" value="true" />
  <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_tutorials)/worlds/" respawn="false" output="screen"/>
  <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/>

and finally,

roslaunch gazebo_tutorials hello.launch

Wiki: simulator_gazebo/Tutorials/GazeboPluginIntro (last edited 2013-06-19 00:05:57 by davetcoleman)