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README.md

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Common Gazebo Plugins

Available Plugins

- MimicJoints

Build new Plugins

  1. Add plugin and dependencies to CmakeLists.txt

  2. Build this package as usual

This will generate the <pluginName>.so library under install/hector_gazebo_plugins/plugins

Run

  1. Include plugin in robot URDF or world file (see Hector Gazebo Harmonic documentation)

  2. Add this repo to your ROS 2 src directory if you have not done so

  3. Source install/setup.bash to export plugin(s) to GZ_SIM_SYSTEM_PLUGIN_PATH

  4. Run sim