MoveModel Plugin

Description : Use to animate models in gazebo simulation. Specify the time stamped waypoints in sdf file and the animation is created based on the mentioned keyframes.

Build

To build the plugin from the root of the repository run :

cd simulator_ws/src/underwater_sim/underwater_plugins/MoveModel
mkdir build
cd build
cmake ..
make

And add the library to the path

cd simulator_ws/src/underwater_sim/underwater_plugins/MoveModel
export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/build

Usage

To use the plugin add the following tag with the respective waypoints to the model tag in the sdf

<plugin filename="MoveModel" name="move_model::MoveModel">
    <waypoint>
        <time>0</time>
        <pose>0 0 1 0 0 0.7</pose>
    </waypoint>
    <waypoint>
        <time>10</time>
        <pose>-5 -5 1 0 0.7 0</pose>
    </waypoint>
    .
    .
    .
    <waypoint>
    <time>25</time>
    <pose>5 -5 6 1.54 0 0</pose>
    </waypoint>
</plugin>

Example

A box model animated using the plugin