Introduction

Player is a robot control framework, please visit their website for more information.

This tutorial covers connecting the position2d Player interfaces to Gazebo.

Create a working directory

cd; mkdir gazebo_position2d; cd gazebo_position2d

Player Config

Copy the config script below into a file called position2d.cfg. The following script is also accessible via this link.

driver
(
  name "gazebo"
  provides ["simulation:0"]
  plugin "libgazebo_player"

  # The name of a running Gazebo world, specified in a .world file
  world_name "default"
)

driver
(
  name "gazebo"
  provides ["position2d:0"]

  # This name must match the name of a model in the "default" world
  model_name "pioneer2dx"
)

Run

Run Gazebo

gazebo worlds/pioneer2dx.world

Run Player

player position2d.cfg

Run playerv

playerv

You can now drive the pioneer2dx using playerv.