The ConfigurationOverride is a Gazebo model plugin. It can be attached to a model in order to override the sdf configuration of any other plugin that is attached to the same model. Each ConfigurationOverride plugin points to a plugin and can override the values of multiple configuration parameters. The parameters that are not pointed in the ConfigurationOverride will remain untouched. If the desired parameter is not found in the plugin, it is created accordingly to configurationOverride.

N.B. If a parameter is defined multiple times inside a plugin, only the first occurence will be overritten accordingly to the element retreived with GetElement(). Currently, this doesn't represent a problem since also the plugins are reading the configurations with GetElement().

Usage

Add the ConfigurationOverride plugin to the model sdf before the overriden plugin declaration (i.e. before the <include>) and define the plugin_name as the name of the plugin that will be modified. The properties of the ConfigurationOverride plugin will be then used in order to override the properties of the desired plugin.

e.g. If you are using the model from icub-gazebo and you wanto to change the <initialConfiguration> of the ControlBoard (controlboard_right_arm), the model can be defined as follow:

<!-- iCub -->
<model name="myiCub">
<plugin name='configuration_override' filename='libgazebo_yarp_configurationoverride.so'>
  <yarpPluginConfigurationOverride plugin_name='controlboard_right_arm'> </yarpPluginConfigurationOverride>
  <initialConfiguration>-2.0 0.52 0.0 0.785 0 0 0.698</initialConfiguration>
</plugin>
<include>
  <uri>model://icub</uri>
</include>
</model>

then instead of loading the model icub with the standard right arm <initialConfiguration>, the configuration defined in the ConfigurationOverride will be used.