IF (DEFINED ENV{ROS_ROOT})
	MESSAGE (STATUS "ROS found: $ENV{ROS_ROOT}")
	find_package(catkin REQUIRED COMPONENTS urdf)

IF (DEFINED ENV{ROS_ROOT})
	MESSAGE (STATUS "ROS found: $ENV{ROS_ROOT}")
	find_package(catkin REQUIRED COMPONENTS urdf)
	include_directories(include ${catkin_INCLUDE_DIRS})

RBDL 폴더 -> 오른쪽 마우스 클릭 -> Open in Terminal
또는
cd catkin_ws/src/RobotControl2023/src/RBDL

mkdir build 
cd build/ 
cmake -D CMAKE_BUILD_TYPE=Release ../
cmake -D RBDL_BUILD_ADDON_URDFREADER=true ../
make 
sudo make install

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="rb1_500e">
.
.
.
    <include>
      <uri>model:https://RB1_500e</uri>
      <pose frame=''>0 0 0 0 0 0</pose>
      <plugin name="main" filename="librb1_500e_study.so"/> 
    </include>
  </world>
</sdf>

void gazebo::RB1_500E::Load(physics::ModelPtr _model, sdf::ElementPtr /*_sdf*/)
{
    /*
     * Loading model data and initializing the system before simulation 
     */

    //* model.sdf file based model data input to [physics::ModelPtr model] for gazebo simulation

    int argc = 0;
    char** argv = NULL;
    ros::init(argc, argv, "RB1_500E");
    ROS_INFO("PLUGIN_LOADED");

    printf("\n Loading Complete \n");
    
    this->model = _model;

    #if GazeboVersion < 8
        this->BASE_LINK = this->model->GetLink("BASE_LINK");
        this->LINK1 = this->model->GetLink("LINK1");
        this->LINK2 = this->model->GetLink("LINK2");
        this->LINK3 = this->model->GetLink("LINK3");
        this->LINK4 = this->model->GetLink("LINK4");
        this->LINK5 = this->model->GetLink("LINK5");
        this->LINK6 = this->model->GetLink("LINK6");
        
        this->JT0 = this->model->GetJoint("JT0");
        this->JT1 = this->model->GetJoint("JT1");
        this->JT2 = this->model->GetJoint("JT2");
        this->JT3 = this->model->GetJoint("JT3");
        this->JT4 = this->model->GetJoint("JT4");
        this->JT5 = this->model->GetJoint("JT5");
        this->last_update_time = this->model->GetWorld()->GetSimTime();
    #else
        BASE_LINK = this->model->GetLink("BASE_LINK");
        LINK1 = this->model->GetLink("LINK1");
        LINK2 = this->model->GetLink("LINK2");
        LINK3 = this->model->GetLink("LINK3");
        LINK4 = this->model->GetLink("LINK4");
        LINK5 = this->model->GetLink("LINK5");
        LINK6 = this->model->GetLink("LINK6");
        
        JT0 = this->model->GetJoint("JT0");
        JT1 = this->model->GetJoint("JT1");
        JT2 = this->model->GetJoint("JT2");
        JT3 = this->model->GetJoint("JT3");
        JT4 = this->model->GetJoint("JT4");
        JT5 = this->model->GetJoint("JT5");

        last_update_time = model->GetWorld()->SimTime();
    #endif
    
    //* RBDL setting
    printf("\n RBDL load start \n");
    Addons::URDFReadFromFile(RB1_500e_MODEL_DIR, _rb.rb1_500e_model, false, false);
    _rb.rb1_500e_model->gravity = Vector3d(0., 0., -9.81);

    printf("\n RBDL load Complete \n");
    
    //* setting for getting dt
    this->update_connection_ = event::Events::ConnectWorldUpdateBegin(boost::bind(&RB1_500E::UpdateAlgorithm, this));

}

// #define RB1_500e_MODEL_DIR "/home/js/catkin_ws/src/RobotControl2023/urdf/RB1_500e.urdf"

# ~/.bashrc: executed by bash(1) for non-login shells.
# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
# for examples

alias eb='gedit ~/.bashrc'
alias sb='source ~/.bashrc'
alias cc='cd ~/catkin_ws && catkin_make clean'
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'
alias ljscm='cd ~/ljs/catkin_ws && catkin_make'
alias cds='source ~/catkin_ws/devel/setup.bash'
alias vip='cd ~/catkin_ws/src/gui'
alias sim='cd ~/Downloads && ./omniverse-launcher-linux.AppImage'
alias matlab='cd /usr/local/MATLAB/R2023a/bin && ./matlab'
alias PYTHON_PATH=~/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh
# source /opt/ros/noetic/setup.bash
# source ~/catkin_ws/devel/setup.bash

#own
export ISAAC_SIM="$HOME/.local/share/ov/pkg/isaac_sim-2022.2.1"

export ROS_MASTER_URI=http://localhost:11311
export ROS_HOSTNAME=localhost

# local address
PATH=$PATH:/usr/local/bin/

# If not running interactively, don't do anything
case $- in
    *i*) ;;
      *) return;;
esac

# don't put duplicate lines or lines starting with space in the history.
# See bash(1) for more options
HISTCONTROL=ignoreboth

# append to the history file, don't overwrite it
shopt -s histappend

# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
HISTSIZE=1000
HISTFILESIZE=2000

# check the window size after each command and, if necessary,
# update the values of LINES and COLUMNS.
shopt -s checkwinsize

# If set, the pattern "**" used in a pathname expansion context will
# match all files and zero or more directories and subdirectories.
#shopt -s globstar

# make less more friendly for non-text input files, see lesspipe(1)
[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"

# set variable identifying the chroot you work in (used in the prompt below)
if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
    debian_chroot=$(cat /etc/debian_chroot)
fi

# set a fancy prompt (non-color, unless we know we "want" color)
case "$TERM" in
    xterm-color|*-256color) color_prompt=yes;;
esac

# uncomment for a colored prompt, if the terminal has the capability; turned
# off by default to not distract the user: the focus in a terminal window
# should be on the output of commands, not on the prompt
#force_color_prompt=yes

if [ -n "$force_color_prompt" ]; then
    if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
	# We have color support; assume it's compliant with Ecma-48
	# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
	# a case would tend to support setf rather than setaf.)
	color_prompt=yes
    else
	color_prompt=
    fi
fi

if [ "$color_prompt" = yes ]; then
    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
else
    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
fi
unset color_prompt force_color_prompt

# If this is an xterm set the title to user@host:dir
case "$TERM" in
xterm*|rxvt*)
    PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
    ;;
*)
    ;;
esac

# enable color support of ls and also add handy aliases
if [ -x /usr/bin/dircolors ]; then
    test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
    alias ls='ls --color=auto'
    #alias dir='dir --color=auto'
    #alias vdir='vdir --color=auto'

    alias grep='grep --color=auto'
    alias fgrep='fgrep --color=auto'
    alias egrep='egrep --color=auto'
fi

# colored GCC warnings and errors
#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'

# some more ls aliases
alias ll='ls -alF'
alias la='ls -A'
alias l='ls -CF'

# Add an "alert" alias for long running commands.  Use like so:
#   sleep 10; alert
alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'

# Alias definitions.
# You may want to put all your additions into a separate file like
# ~/.bash_aliases, instead of adding them here directly.
# See /usr/share/doc/bash-doc/examples in the bash-doc package.

if [ -f ~/.bash_aliases ]; then
    . ~/.bash_aliases
fi

# enable programmable completion features (you don't need to enable
# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
# sources /etc/bash.bashrc).
if ! shopt -oq posix; then
  if [ -f /usr/share/bash-completion/bash_completion ]; then
    . /usr/share/bash-completion/bash_completion
  elif [ -f /etc/bash_completion ]; then
    . /etc/bash_completion
  fi
fi
source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash