moved world plugin loader into own package

README.md

 # gazebo-pkgs
 
-A collection of tools and plugins for Gazebo
+A collection of tools and plugins for Gazebo.
+
+Please also refer to [the wiki](https://github.com/JenniferBuehler/gazebo-pkgs/wiki) for more information.

gazebo_state_plugins/CMakeLists.txt

@@ -7,6 +7,7 @@ project(gazebo_state_plugins)
 find_package(
   catkin 
   REQUIRED COMPONENTS
+  gazebo_world_plugin_loader
   geometry_msgs
   roscpp
   shape_msgs
@@ -61,9 +62,6 @@ add_library(gazebo_map_publisher
    src/GazeboMapPublisher.cpp
 )
 
-add_library(gazebo_plugin_loader
-    src/GazeboPluginLoader.cpp
-)
 
 ## Declare a cpp executable
 add_executable(gazebo_request_object_info test/object_info_request.cpp)
@@ -73,7 +71,6 @@ add_executable(gazebo_request_object_info test/object_info_request.cpp)
 add_dependencies(gazebo_request_object_info ${catkin_EXPORTED_TARGETS})
 add_dependencies(gazebo_object_info ${catkin_EXPORTED_TARGETS})
 add_dependencies(gazebo_map_publisher ${catkin_EXPORTED_TARGETS})
-add_dependencies(gazebo_plugin_loader ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(gazebo_object_info
@@ -88,11 +85,6 @@ target_link_libraries(gazebo_request_object_info
    ${catkin_LIBRARIES}
 )
 
-target_link_libraries(gazebo_plugin_loader
-   ${GAZEBO_LIBRARIES}
-   ${catkin_LIBRARIES}
-)
-
 
 #############
 ## Install ##

gazebo_state_plugins/package.xml

@@ -4,9 +4,7 @@
   <version>0.0.0</version>
   <description>
       Offers topics and services related to the state of the world in 
-      Gazebo. In particular offers a *system* plugin which can be
-      used to load other *world* plugins after the world has been
-      loaded, so it doesn't have to be specified in the Gazebo .world file.
+      Gazebo.
   </description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
@@ -46,10 +44,12 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>roscpp</build_depend>
+  <build_depend>gazebo_world_plugin_loader</build_depend>
   <build_depend>shape_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>object_msgs</build_depend>
   <build_depend>eigen_conversions</build_depend>
+  <run_depend>gazebo_world_plugin_loader</run_depend>
   <run_depend>object_msgs</run_depend>
   <run_depend>eigen_conversions</run_depend>
   <run_depend>geometry_msgs</run_depend>

gazebo_test_tools/launch/gazebo_fake_object_recognition.launch

+<launch>
+    #####################################
+    # Load Gazebo world plugins
+    #####################################
+    # Load parameters for Gazebo World Plugins to load
+    <include file="$(find gazebo_state_plugins)/launch/plugin_loader.launch"/>
+
+	#####################################
+	# Load Gazebo fake object detector 
+    #####################################
+    <include file="$(find gazebo_test_tools)/launch/fake_object_recognizer.launch">
+        # use the default config file
+        <arg name="config_file" value="$(find gazebo_test_tools)/config/FakeObjectRecognizer.yaml"/>
+    </include>
+</launch>

gazebo_world_plugin_loader/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(gazebo_world_plugin_loader)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(
+  catkin 
+  REQUIRED COMPONENTS
+  roscpp
+  gazebo_ros
+)
+
+find_package(gazebo REQUIRED)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+  LIBRARIES gazebo_world_plugin_loader
+  CATKIN_DEPENDS roscpp gazebo_ros
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${GAZEBO_INCLUDE_DIRS}
+)
+
+add_library(gazebo_world_plugin_loader
+    src/GazeboPluginLoader.cpp
+)
+
+add_dependencies(gazebo_world_plugin_loader ${catkin_EXPORTED_TARGETS})
+
+target_link_libraries(gazebo_world_plugin_loader
+   ${GAZEBO_LIBRARIES}
+   ${catkin_LIBRARIES}
+)
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS gazebo_world_plugin_loader gazebo_world_plugin_loader_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_gazebo_world_plugin_loader.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

gazebo_world_plugin_loader/config/WorldPluginsTemplate.config

+# Template for world plugins configuration:
+# Parameters read by GazeboPluginLoader. Contains
+# names and library files of Gazebo World Plugins to be
+# loaded.
+
+# name of world to load the plugins on. 'default' or 
+# empty string should yield the default world.
+world_name: "default"
+
+# names and filenames of plugins to load
+world_plugins:
+    #- name: <name-of-plugin> 
+    #  file: lib<libname>.so

gazebo_state_plugins/include/gazebo_state_plugins/GazeboPluginLoader.h → gazebo_world_plugin_loader/include/gazebo_world_plugin_loader/GazeboPluginLoader.h

@@ -31,7 +31,7 @@ namespace gazebo
  * This plugin is a system plugin which has to be loaded
  * together with gazebo, e.g.:
  *
- * ``gzserver -s libgazebo_plugin_loader.so``
+ * ``gzserver -s libgazebo_world_plugin_loader.so``
  *
  * **Limitation:**
  *

gazebo_world_plugin_loader/launch/plugin_loader_template.launch

+<launch>
+    <!-- for each gazebo world plugin to be loaded, you may need to load individual ROS parameters. 
+        You can do this from here. -->
+    <rosparam ns="<your-package>" file="$(find <your-package>)/config/<world-plugin-config>.yaml"/>
+</launch>

gazebo_world_plugin_loader/package.xml

+<?xml version="1.0"?>
+<package>
+  <name>gazebo_world_plugin_loader</name>
+  <version>0.0.0</version>
+  <description>
+      Offers a *system* plugin which can be
+      used to load other *world* plugins after the world has been
+      loaded, so it doesn't have to be specified in the Gazebo "world" file.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <maintainer email="jennifer.e.buehler@gmail.com">Jennifer Buehler</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>GPLv3</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/gazebo_world_plugin_loader</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <run_depend>roscpp</run_depend>
+
+  <run_depend>gazebo_ros</run_depend>
+  <build_depend>gazebo_ros</build_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+  </export>
+</package>

gazebo_state_plugins/src/GazeboPluginLoader.cpp → gazebo_world_plugin_loader/src/GazeboPluginLoader.cpp

-#include <gazebo_state_plugins/GazeboPluginLoader.h>
+#include <gazebo_world_plugin_loader/GazeboPluginLoader.h>
 
 #include <gazebo/physics/World.hh>
 #include <gazebo/physics/PhysicsIface.hh>
@@ -41,7 +41,7 @@ void GazeboPluginLoader::onWorldCreate(){
     node.getParam("world_plugins", world_plugins);
     if (world_plugins.getType() != XmlRpc::XmlRpcValue::TypeArray)
     {
-      ROS_ERROR("Parameter world_plugins should be specified as an array");
+      ROS_ERROR("Parameter world_plugins should be specified as an array. Gazebo world plugins won't be loaded.");
       return;
     }
 
@@ -50,7 +50,7 @@ void GazeboPluginLoader::onWorldCreate(){
     {
       if (!world_plugins[i].hasMember("name") || !world_plugins[i].hasMember("file"))
       {
-            ROS_ERROR("World plugin parameter specification should have 'name' and 'file'");
+            ROS_ERROR("World plugin parameter specification should have 'name' and 'file'. Gazebo world plugins won't be loaded.");
             continue;
       }
       std::string name=world_plugins[i]["name"];