.. _gazebo_plugin_model:

Gazebo Plugin Model
===================

Within a Component, a **Gazebo Plugin** is represented by a **GenericDomainModel** with the following **Attributes**

+-------------+---------------------+-------------------------------------------------+
| Attributes  | Value               | Description                                     |
+=============+=====================+=================================================+
| Type        | plugin              |                                                 |
+-------------+---------------------+-------------------------------------------------+
| Domain      | gazebo              |                                                 |
+-------------+---------------------+-------------------------------------------------+

... and a connected template file **Resource** as shown below.

.. figure:: images/diff_drive_multiwheel_plugin_model.png

.. figure:: images/template_diffdrive_plugin_multiwheel_resource.png

----

A ROS Node Model GenericDomainModel may contain the following elements:

.. toctree::
   :maxdepth: 2

   gz_plugin_ros_topic_publisher
   gz_plugin_ros_service_server
   gz_plugin_ros_action_server
   gz_plugin_urdf_link_port
   gz_plugin_parameter