Gazebo Plugin

API Reference

1.4.0
Installation

These instructions are for installing only Ignition Plugin. If you're interested in using all the Ignition libraries, check out this Ignition installation.

We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.

The Source Installation instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.

Ubuntu

Prerequisites

Ignition Plugin version 1 requires Ubuntu Bionic, while version 0 can be used with Ubuntu Xenial.

If you don't already have the lsb-release package installed, please do so now:

sudo apt-get update
sudo apt-get install lsb-release

Setup your computer to accept software from packages.osrfoundation.org:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

Setup keys:

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Binary Installation

On Ubuntu systems, apt-get can be used to install ignition-plugin:

sudo apt-get update
sudo apt install libignition-plugin-dev

Source Installation

  1. Install required Ignition dependencies
    sudo apt-get install libignition-cmake2-dev
  1. Install Ignition Tools if you want to use the ign plugin command line tool:
    sudo apt-get install ignition-tools
    2. Clone the repository
    bash git clone https://github.com/ignitionrobotics/ign-plugin
    3. Configure and build
    bash cd ign-plugin mkdir build cd build cmake .. make
    4. Optionally, install
    bash sudo make install
    # macOS
    ## Prerequisites
    Ignition Plugin and several of its dependencies can be installed on macOS
    with [Homebrew](http://brew.sh/) using the [osrf/simulation
    tap](https://github.com/osrf/homebrew-simulation). Ignition Plugin version 1
    requires macOS High Sierra (10.13) or later, while version 0 supports
    Sierra (10.12) or later.
    ## Binary Installation
    1. Install Homebrew, which should also prompt you to install the XCode command-line tools
    bash ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
    2. Run the following commands
    bash brew tap osrf/simulation brew install ignition-plugin1
    ## Source Installation
    1. Install dependencies
    bash brew tap osrf/simulation brew install ignition-plugin1 –only-dependencies
    2. Clone the repository
    bash git clone https://github.com/ignitionrobotics/ign-plugin
    3. Configure and build
    bash cd ign-plugin mkdir build cd build cmake .. make
    4. Optionally, install
    bash sudo make install
    # Windows
    ## Prerequisites
    First, follow the [ign-cmake](https://github.com/ignitionrobotics/ign-cmake) tutorial for installing Conda, Visual Studio, CMake, and other prerequisites, and also for creating a Conda environment.
    Navigate to `condabin` if necessary to use the `conda` command (i.e., if Conda is not in your `PATH` environment variable. You can find the location of `condabin` in Anaconda Prompt, `where conda`).
    Create if necessary, and activate a Conda environment:
    bash conda create -n ign-ws conda activate ign-ws
    ## Binary Installation
    bash conda install libignition-plugin<#> –channel conda-forge
    Be sure to replace `<#>` with a number value, such as 2 or 3, depending on
    which version you need.
    ## Source Installation
    This assumes you have created and activated a Conda environment while installing the Prerequisites.
    1. Install Ignition dependencies:
    You can view available versions and their dependencies:
    bash conda search libignition-plugin* –channel conda-forge –info
    Install dependencies, replacing `<#>` with the desired version:
    bash conda install libignition-cmake<#> –channel conda-forge
    2. Navigate to where you would like to build the library, and clone the repository.
    bash

Optionally, append <tt>-b ign-plugin#</tt> (replace # with a number) to check out a specific version

git clone https://github.com/ignitionrobotics/ign-plugin

3. Configure and build

bash cd ign-plugin mkdir build cd build cmake .. -DBUILD_TESTING=OFF # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install cmake –build . –config Release

4. Optionally, install

bash cmake –install . –config Release

# Documentation
API documentation and tutorials can be accessed at
[Ignition Robotics website](https://ignitionrobotics.org/libs/plugin)
You can also generate the documentation from a clone of this repository by following these steps.
1. You will need [Doxygen](http://www.doxygen.org/). On Ubuntu Doxygen can be installed using

bash sudo apt-get install doxygen

2. Clone the repository

bash git clone https://github.com/ignitionrobotics/ign-plugin

3. Configure and build the documentation.

bash cd ign-plugin mkdir build cd build cmake .. make doc

4. View the documentation by running the following command from the `build` directory.

bash firefox doxygen/html/index.html

**Note** Alternatively, documentation for `ignition-plugin` can be found within the source code, and also in the MIGRATION.md guide.
# Test
Run tests as follows:

bash make test

Tests are automatically built. To disable them, run `cmake` as follows:

bash cmake .. -DBUILD_TESTING=false

## Test coverage
To run test coverage:
1. Install LCOV

bash sudo apt-get install lcov

2. Build with coverage

bash cd build/ cmake .. -DCMAKE_BUILD_TYPE=coverage make

3. Run tests

bash make test

4. Generate coverage

bash make coverage

5. View results

bash firefox coverage/index.html ```