.. _gz_plugin_parameter:

Parameter
=========

Within a Gazebo Plugin GenericDomainModel, a parameter is represented
by a **GenericDomainModelParameter** with the following **Attributes.**

+-------------+---------------------------------------------------+--------------------------------------------------------------+
| Attributes  | Value                                             | Description                                                  |
+=============+===================================================+==============================================================+
| Value       | *[value]*                                         | Default value - can be a String, Float, Integer, or Boolean  |
+-------------+---------------------------------------------------+--------------------------------------------------------------+

If the CyPhy Master Interpreter is run, these Attributes will be used to populate
the parent ROS Node Model's corresponding node element in the generated ROS URDF file.

The GenericDomainModelParameter's name
is used as a key to populate the Gazebo Plugin GenericDomainModel's connected
template file Resource with the parameter value.

**Example GenericDomainModelParameter**

.. figure:: images/example_gdm_parameter.png

**Example Template Resource**

.. code-block:: none

  <robot>
    <gazebo>
      <plugin name="diffdrive_plugin_multiwheel" filename="libdiffdrive_plugin_multi_wheel.so">
  	    <alwaysOn>${updateRate}</alwaysOn>
        ...
    </gazebo>
  </robot>

**Example Generated URDF**

.. code-block:: none

  <robot>
    ...
    <gazebo>
      <plugin name="diffdrive_plugin_multiwheel" filename="libdiffdrive_plugin_multi_wheel.so">
  	    <alwaysOn>true</alwaysOn>
        ...
    </gazebo>
    ...
  </robot>