This section will cover how to write gazebo plugins and how to integrate them with ROS. There are a number of tutorials online as well as examples in the robosub simulator repo but it can all be a little hard to find. Thus I'll mostly just be gathering all the resources here and giving a few tips.
For an overview of writing gazebo plugins see here.
To see how ROS integration works with gazebo plugins go here.
The best resource to see examples of gazebo plugins in action is our robosub_simulator repo, especially these files:
A couple things to note when working with plugins: