GUI plugins that are installed with Ignition Gazebo.All paths set on the IGN_GUI_PLUGIN_PATH environment variable.Ignition will look for GUI plugins on the following paths, in order: The plugin menu on the top-right of the screen.Tags in GUI config files, where filename is the shared library:.Tags in SDF world files, where filename is the shared library:.Systems that are installed with Ignition GazeboĮach Ignition GUI plugin defines a widget.All paths on the IGN_GAZEBO_SYSTEM_PLUGIN_PATH environment variable.Ignition will look for system plugins on the following paths, in order: Passing the shared library and class to be loaded through PluginInfo (within ServerConfig) when instantiating the Server.A system plugin can be attached to different entities. Tags in SDF files, where filename is the shared library and name is the class to be loaded.Refer to the Create System Plugins tutorial for information about creating your own system plugin. System PluginsĪ system plugin is used by Ignition Gazebo, and provides an entry point for simulation customization and control. The following sections describe how Ignition finds and loads different types of plugins. Ignition relies on plugins for rendering, physics simulation, sensor data generation, and many of the capabilities. For example, the diff_drive plugin, provided by Ignition Gazebo, implements a differential drive controller for mobile robots. Typically, plugins are scoped to perform a narrow set of features. PluginsĪ plugin is a shared library that adheres to a specific API and is loaded at runtime. Ignition Gazebo offers a few different mechanisms for locating required resources. Setting up and running a simulation can involve loading various kinds of resources, such as robot models and plugins, from different locations, which can include a local filesystem and online servers.
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