gazebo-yarp-plugins use with roslaunch

[traversaro]

Hi ROS and gazebo-yarp-plugins users @EnricoMingo @arocchi @MirkoFerrati, we have a question for you.
Here at the iCub summer school @miaragao is working in integration the gazebo_yarp_controlboard plugin in its Vizzy robot simulation.
He is launching the simulation using roslaunch as described in the gazebo ros documentation, and apparently the GAZEBO_PLUGIN_PATH does not contains the directory in which the gazebo-yarp-plugins are found, even if the

export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/path/to/gazebo-yarp-plugins/build

iine in .bashrc is correctly set. Apparently roslaunch is overwriting at some point the GAZEBO_PLUGIN_PATH environment variable.
Have you every experienced something similar, and you know a clean solution to this problem?
Thanks

[MirkoFerrati]

Have a look at this http://wiki.ros.org/roslaunch/XML section 2

[traversaro]

This should be fixed for GAZEBO_MODEL_PATH by Gazebo PR https://bitbucket.org/osrf/gazebo/pull-request/1430/preserve-previous-gazebo_model_path-values/diff , as explained in https://bitbucket.org/osrf/gazebo_tutorials/issue/27/roslaunch-not-working-properly-when-using .
A similar fix for GAZEBO_PLUGIN_PATH should solve this bug.

[traversaro]

This bug should be solved by https://bitbucket.org/osrf/gazebo/pull-request/1430/preserve-previous-gazebo_model_path-values/diff (thanks @scpeters!) in Gazebo 4.1 , and I guess it will be propagated to following versions.

@mikearagao feel free to re-open if the problem persists , or if we need to solve this even for Gazebo versions older then 4.1 .

[scpeters]

I merged it forward to gazebo5 and the default branch, though it hasn't been released in any debian packages yet.