⚠️ This repository is still experimental, expect bugs and breaking changes ⚠️

gazebo-scenario-plugins

Ignition Gazebo Plugins implemented with ScenarIO.

Plugins

Name	Description
ActuationDelay	Simulate actuation delay inserting the targets (joint references) into a FIFO buffer.
LowPassTarget	Filter the joint targets (references) with a configurable Butterworth low-pass filter.

Dependencies

gazebo-scenario-plugins expects to find installed and configured the following dependencies:

• ignitionrobotics/ign-gazebo
• robotology/gym-ignition

Visit the gym-ignition repository to check what Ignition distribution is currently supported.

Installation

Install only the C++ resources with:

git clone https://github.com/dic-iit/gazebo-scenario-plugins
cd gazebo-scenario-plugins
cmake -S . -B build
cmake --build build/ --target install

or the complete C++ and Python resources with:

pip3 install gazebo-scenario-plugins

System configuration

If you have installed only the C++ plugins, make sure to add the install prefix to the IGN_GAZEBO_SYSTEM_PLUGIN_PATH environment variable. This way, Ignition Gazebo will automatically find the plugins without the need to specify the absolute path to their library.

If, instead, you rely to the gazebo-scenario-plugins Python package, it will automatically configure the environment right after it is imported into your project.

Usage

The plugins stored in this repository can be inserted in a simulated world either by including them in the SDF file, or by loading them programmatically from either C++ or Python using the ScenarIO APIs.

The three pieces of information you need to know for loading plugins are the following:

1. lib_name: the OS-agnostic name of the plugin library. E.g., if the plugin file is libActuationDelay.so, the library name is ActuationDelay.
2. class_name: the name of the class implementing the plugin. E.g. gsp::ActuationDelay.
3. Plugin context: the configuration options of the plugin.

From the sdf

Select the plugin you want to add and use the following template to add it to the SDF element they correspond (world, model, joint, ...).

<plugin filename="<lib_name>" name="class_name">
    <!-- Optional XML plugin context -->
    <optional_config1>bar</optional_config1>
    <optional_config2>42</optional_config2>
    <optional_config3>l1 l2 l3 l4</optional_config3>
</plugin>

From C++

You can use from your C++ code any of the following methods:

• scenario::gazebo::World::insertWorldPlugin
• scenario::gazebo::Model::insertModelPlugin
• scenario::gazebo::utils::insertPluginToGazeboEntity

Refer to the ScenarIO C++ APIs documentation for more details.

From Python

The low-level APIs to load plugins from your Python code match almost 1:1 the C++ usage:

• scenario.bindings.gazebo.World.insert_world_plugin
• scenario.bindings.gazebo.Model.insert_model_plugin
• scenario.bindings.gazebo.insert_plugin_to_gazebo_entity

Refer to the ScenarIO Python APIs documentation for more details.

In addition to the low-level APIs, this repository provides a gazebo_scenario_plugins Python package that includes helper classes that simplify building the plugin context. Refer to the gazebo_scenario_plugins.plugins module for more details.

Contributing

Pull requests are welcome.

For major changes, please open an issue first to discuss what you would like to change.

License

LGPL v2.1 or any later version.