Unable to stream the base pose via gazebo about gazebo-yarp-plugins HOT 5 CLOSED

is incorrect and should be:

Fix suggested in #683 .

However, this is no longer documented.

What is no longer documented?

If you are ok putting the wrapper in its own robotinterface and avoid using the implicit wrapper, you can see how to use the plugin in https://github.com/robotology/gazebo-yarp-plugins/tree/29d474fbc674ef0f402cc9b42056bab88f99eb88/tutorial/model/basestate .

from gazebo-yarp-plugins.

For instance, something it is not clear to me is where to add the config file:

In the documentation, there is written (it seems it should be placed in model://)

 *          <yarpConfigurationFile>model://path-to-the-configuration-file</yarpConfigurationFile>

can I add it to the path of the world file? I would like to have the config file in a config folder next to world file

.
└── rl_ergoCubGazeboV1_1
    ├── config
    │   └── base_estimator.ini
    └── world

yarpConfigurationFile arguments are parsed via the gazebo::common::SystemPaths::Instance()->FindFileURI() (see

So, if you want to find it, you need to put some of its parents path in GAZEBO_MODEL_PATH. However, that may be inconvenient. There is any reason why you do not want to use yarpConfigurationString instead?

from gazebo-yarp-plugins.

However, that may be inconvenient. There is any reason why you do not want to use yarpConfigurationString instead?

You are right. This is how I added the device to the gazebo world

      <plugin name="basestate" filename="libgazebo_yarp_basestate.so">
        <yarpConfigurationString>(WRAPPER (name /ergocubSim/floating_base/state:o) (period 10) (device analogServer)) (DRIVER (device gazebo_basestate) (baseLink root_link)) </yarpConfigurationString>
      </plugin>

from gazebo-yarp-plugins.

For instance, something it is not clear to me is where to add the config file:

In the documentation, there is written (it seems it should be placed in model://)

 *          <yarpConfigurationFile>model://path-to-the-configuration-file</yarpConfigurationFile>

can I add it to the path of the world file? I would like to have the config file in a config folder next to world file

.
└── rl_ergoCubGazeboV1_1
    ├── config
    │   └── base_estimator.ini
    └── world

from gazebo-yarp-plugins.

Closing with this #682 (comment) solution

from gazebo-yarp-plugins.