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.

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A ROS Node Model GenericDomainModel may contain the following elements:

• ROS Topic Publisher/Subscriber
• ROS Service Server/Client
• ROS Action Client/Server
• URDF Link Port
• Parameter