This repo shows how the ProximityRayPlugin from ARIAC2022 can be migrated to the new Gazebo as a demonstration of migrating plugins from Gazebo-classic to the new Gazebo. See https://gazebosim.org/api/sim/7/migrationplugins.html and https://gazebosim.org/api/sim/7/ardupilot.html for more documentation.

Gazebo-classic:

Gazebo (Garden):

Build Instructions

Gazebo-classic

$ sudo apt install libgazebo11-dev

$ cd gazebo-classic
$ cmake -H. -Bbuild
$ cmake --build build
$ export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$PWD/build # Set environment variable so that gazebo can find the plugin
$ gazebo --verbose -u test.sdf

NOTE: Gazebo-classic and Gazebo (Garden) cannot be installed at the same time. If you want to test running both, using Docker is recommended.

Gazebo (Garden)

$ sudo apt install gz-garden # Assuming you have the packages.osrfoundation.org repo already added. Otherwise, see https://gazebosim.org/docs/latest/install

$ cd gazebo
$ cmake -H. -Bbuild
$ cmake --build build
$ export GZ_SIM_SYSTEM_PLUGIN_PATH=$GZ_SIM_SYSTEM_PLUGIN_PATH:$PWD/build # Set environment variable so that gazebo can find the plugin
$ gz sim -v4 test.sdf