gazebo plugin connection for custom world lunch file issue

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I am trying to run simulink using Gazebo Pacer block with the office world exmaple that is used with matlab. How can I make any gazebo world of my own selection to run with plugin and setup the port connection as well for that world.

Accepted Answer

Gaurav Bhosale
Gaurav Bhosale on 18 Apr 2022
Edited: Gaurav Bhosale on 18 Apr 2022
Hi Momtaz,
To enable Gazebo Co-Plugin support, you need to add plugin details in .world file as,
You can refer this example.
For office world example, the turtlebot3_mw_office.world is located at /opt/ros/oetic/share/turtulebot3_gazebo/worlds/turtlebot3_mw_office.world
You need to edit turtlebot3_mw_office.world as follows,
Further, you should not use 11311 port number for connection. It should same which you added in .world file, with <portNumber> tag i.e. 14581
Thanks
  1 Comment
Momtaz Abadir
Momtaz Abadir on 18 Apr 2022
Thank you.
I have done it already by editing the world files on /home/user/src/worlds/ and not /opt/ros/noetic/share/turtlebot3_gazebo/worlds/
However,
on VM you cannot edit any files inside /opt/ros/noetic/share/turtulebot3_gazebo/worlds/turtlebot3_mw_office.world
How can we edit these files ?I used chmod +x (files ) and not working

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