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Using Gazebo_motor_failure_plugin in gazebo simulation

Software Development
#1

Hi all,

I want to simulate motor failure in gazebo on a quadcopter

I understand that a plugin is already made for this but I have no idea how to use it. I have built it by modifying the CMakeFile but how would I actually go about using it?

#2

You can interface it through the gazebo topics by sending the motor number

#3

I wasnt too sure on how to publish to a gazebo topic, but I thought the plugin existed so I could publish to the ros topic and that would publish to gazebo. However I dont see the corresponding ros topic so I was not sure how to publish to that.

#4

If you are using ROS, you can interact with ROS topics: https://github.com/PX4/sitl_gazebo/blob/f9bc7e34a754b6f204a8b3825c2b132587574cba/src/gazebo_motor_failure_plugin.cpp#L74

#5

The issue I am facing is that I dont see the ROS topic for motor failure, so I am not sure if the plugin is even running. I know it built but do I need to check an option or modify the launch files to enable it?

Thanks a lot for your help btw I reallt appreciate it

#6

@steelshot Ah, of course you need to add the plugin to the model

#7

Ahh I see. Do you have any pointers on how to do that? I am kind of new to gazebo.