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gazebo_model_attachment_plugin

  • Software
  • Simulators
  • Library

A Gazebo plugin that lets two spawned models be joined at runtime by attaching one model's link to another's, and detached again, through ROS services.

Made by Boeing.

Source on GitHub: github.com/Boeing/gazebo_model_attachment_plugin (opens in a new tab). Facts read at commit 43969a1 (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 43969a1 (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

What it does

  • Attaches a link of one model to a link of another model at runtime, creating a joint between them without respawning the model.
  • Attachment keeps the pose difference present at the moment of the service call; it does not teleport the child model.
  • Provides an attach service that takes a joint name, two model names and two link names, and returns success and a message.
  • Provides a detach service that removes the joint between two models, returning success and a message.
  • Intended for simulating end effector swaps, item transport, and pick and place operations.
  • Requires a locally built fix branch of rosidl_python because of a known packaging issue; built with colcon in a ROS workspace.

Written by Robotheca from the project's README (opens in a new tab) at commit 43969a1.

Getting started

Difficulty
Intermediate

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
30 Sept 2026 on humble
Latest release
None published on GitHub

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.