gazebo相关参考点

1.Upgrading from simulator_gazebo

http://gazebosim.org/wiki/Tutorials/1.9/Overview_of_new_ROS_integration

2.gazebo userguide

http://gazebosim.org/user_guide/started__components__plugins.html

3.ros 编写一个plugin

http://www.ros.org/wiki/pluginlib/Tutorials/Writing%20and%20Using%20a%20Simple%20Plugin