Gazebo resource setup for [[simulator_gazebo/GazeboConfiguration|C-Turtle and later]]. <<TOC(4)>> Starting with C-Turtle, gazebo will no longer require environment variables: `LD_LIBRARY_PATH`, `GAZEBO_MEDIA_PATH` and `OGRE_RESOURCE_PATH`. We are switching to using [[pluginlib]] to setup the corresponding resource variables. == Ogre Resource Path == Previous to C-Turtle release, you need to specify the path to [[ogre]] library files either by putting it in `.gazeborc` or specifying it in the environment variable `OGRE_RESOURCE_PATH`. {{{ <?xml version="1.0"?> <gazeborc> <ogrePath>/u/hsu/projects/cturtle_wg_all/stacks/visualization_common/ogre/ogre/lib/OGRE</ogrePath> </gazeborc> }}} == Gazebo Media Path == Gazebo automatically looks in subdirectory `Media/*` for resource files, e.g.: * `Media/models` - model mesh files * `Media/materials/textures` - ogre texture files * `Media/materials/scripts` - ogre material scripts * `Media/materials/programs` - ogre shading programs Previous to C-Turtle release, you need to specify the path to `Media` directory either by putting it in `~/.gazeborc` {{{ <?xml version="1.0"?> <gazeborc> <gazeboPath>/u/hsu/projects/cturtle_wg_all/stacks/simulator_gazebo/gazebo/gazebo/share/gazebo</gazeboPath> </gazeborc> }}} or by specifying it in the environment variable `GAZEBO_RESOURCE_PATH`. For example: {{{ <param name="/use_sim_time" value="true" /> <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen"> <env name="GAZEBO_RESOURCE_PATH" value="$(find your_package_containing_a_Media_directory)" /> </node> }}} == Gazebo Plugins Path == Previous to C-Turtle release, you have to specify the plugin library locations in environment variable `LD_LIBRARY_PATH`. For example, if the plugin library is located in `gazebo_plugins`/lib/libgazebo_ros_myplugin.so, you have to include the following '''env''' tag in your gazebo node launch script: {{{ <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" > <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugins)/lib:$(optenv LD_LIBRARY_PATH)" /> </node> }}}