#269 Controller Plugin Interface

closed-accepted
Nathan Koenig
Gazebo (98)
5
2008-05-09
2008-03-08
RAZOR
No

This patch adds plugin support for controllers. If a plugin file is specified in the world file as well as the name of the controller, the plugin (shared library) will be loaded and the controller type registered before the controller is created.

Changes:
- Added plugin loading functionality to ControllerFactory
- Modified Model and Sensor to make use of plugin loader
- Added GZ_REGISTER_DYNAMIC_CONTROLLER macro for easy plugin controller registration
- Added dependency on libtool (if not available, plugins are disabled)
- Installed more headers as necessary for my plugin controller
- Added -export-dynamic link flag so that the plugins function calls are resolved

Discussion

  • RAZOR
    RAZOR
    2008-03-08

    Patch to add controller plugin support

     
  • RAZOR
    RAZOR
    2008-03-27

    Updated plugin patch which installs all server headers

     
  • RAZOR
    RAZOR
    2008-03-27

    Logged In: YES
    user_id=1159372
    Originator: YES

    Patch updated to install all of the gazebo server headers. It's also against the latest and has relative paths this time (oops).
    File Added: GazeboPluginUpdated.diff

     
  • Logged In: NO

    Submitted, revision 4469.

     
  • Logged In: NO

    I forgot to say that this patch was applied and the report can be closed

     
  • RAZOR
    RAZOR
    2008-05-09

    • status: open --> closed
     
  • RAZOR
    RAZOR
    2008-05-09

    • status: closed --> closed-accepted