Last update, I explained that I was experiencing a segmentation fault with my previous method trying to run our logic controller and publish mocap messages. This week I wanted to create my own plugin for our logic, which will work with the other plugins used by RotorS (i.e. wind disturbance and sensors).
I used the online Gazebo plugin tutorials and the plugins in the RotorS package as references to create my plugin, however running it created a segmentation fault as I attempted to access the model data from Gazebo. I then looked to manipulate the main plugin that is ran whenever Gazebo is started with the RotorS package. I was able to create telemetry messages and mocap messages that come from the the position data of an object in Gazebo.
I am still having issues calling the function from our QuadcopterLogic file. I have defined it as a shared ptr variable and use the pointer (->) to call upon functions, but I am facing segmentation faults.
Over the next few days, I will work to call upon the QuadcopterLogic function without errors. I will use Quadcopter_T and Gazebo plugins to give me an an idea on how to mitigate this issue. Once I fix the error, I will work on the radio commands portion, which I believe will be a similar function to SimVehicle in our main simulator file.