gazebo plugin connection for custom world lunch file issue

I am trying to run simulink using Gazebo Pacer block with the office world exmaple that is used with matlab. How can I make any gazebo world of my own selection to run with plugin and setup the port connection as well for that world.

Answer 1

[Gaurav Bhosale]

Hi Momtaz,

To enable Gazebo Co-Plugin support, you need to add plugin details in .world file as,

You can refer this example.

For office world example, the turtlebot3_mw_office.world is located at /opt/ros/oetic/share/turtulebot3_gazebo/worlds/turtlebot3_mw_office.world

You need to edit turtlebot3_mw_office.world as follows,

Further, you should not use 11311 port number for connection. It should same which you added in .world file, with <portNumber> tag i.e. 14581

Thanks

[Momtaz Abadir]

Thank you.

I have done it already by editing the world files on /home/user/src/worlds/ and not /opt/ros/noetic/share/turtlebot3_gazebo/worlds/

However,

on VM you cannot edit any files inside /opt/ros/noetic/share/turtulebot3_gazebo/worlds/turtlebot3_mw_office.world

How can we edit these files ?I used chmod +x (files ) and not working