adding priushybrid plugin to urdf

fisherleeyhl77 · Jun 21, 2017 · 24aa920 · 24aa920
1 parent b8ddd35
commit 24aa920
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/prius_description/urdf/prius.urdf b/prius_description/urdf/prius.urdf
@@ -175,5 +175,9 @@
     <origin xyz="-0.793 1.45 0.3" rpy="0 0 0"/>
     <axis xyz="1 0 0"/>
   </joint>
-
+  <gazebo>
+      <plugin name="pruis_hybrid_drive" filename="libPriusHybridPlugin.so">
+        <!-- ... plugin parameters ... -->
+    </plugin>
+  </gazebo>
 </robot>
diff --git a/prius_plugin/plugins/PriusHybridPlugin.cc b/prius_plugin/plugins/PriusHybridPlugin.cc
@@ -249,6 +249,7 @@ PriusHybridPlugin::~PriusHybridPlugin()
 /////////////////////////////////////////////////
 void PriusHybridPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
 {
+  gzinfo << "PriusHybridPlugin Loading Parameters" << std::endl;
   this->dataPtr->model = _model;
   this->dataPtr->world = this->dataPtr->model->GetWorld();
   auto physicsEngine = this->dataPtr->world->Physics();