Creating OpenRAVE plugins allows others to use your work by just instantiating the interfaces through the RaveCreateX methods. Although it is highly recommended to start working with Python/Octave, eventually users should create plugins to offer their functionality through them.
The simplest way to create a plugin is through the openrave-createplugin.py program:
For example, the following command will create a plugin that offers MyNewModule Module:
openrave-createplugin.py myplugin --module MyNewModule
This creates a myplugin directory where all the files are written in. In order to compile and test it do:
cd myplugin
make
python testplugin.py
By default, the new plugin/executable is stored in the build folder. The following files are created to help users get started:
For more details, please see
It is also possible to create and use OpenRAVE inside a program by linking with the openrave-core library. The simplest way to create an example program is:
openrave-createplugin.py myprogram --usecore
This will create a simple program that creates the OpenRAVE Environment and Loads a scene. The environment is created without attaching any viewer.