Rename our allwpilib (which is now 2020) to not have 2019 in the name
Change-Id: I3c07f85ed32ab8b97db765a9b43f2a6ce7da964a
diff --git a/simulation/frc_gazebo_plugins/scripts/frcgazebo b/simulation/frc_gazebo_plugins/scripts/frcgazebo
new file mode 100644
index 0000000..d0e9a75
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/scripts/frcgazebo
@@ -0,0 +1,63 @@
+#!/bin/bash
+#---------------------------------------------------------------------------
+# Copyright (c) 2018 FIRST. All Rights Reserved.
+# Open Source Software - may be modified and shared by FRC teams. The code
+# must be accompanied by the FIRST BSD license file in the root directory of
+# the project.
+#----------------------------------------------------------------------------
+
+#----------------------------------------------------------------------------
+# Invoke gazebo, giving it the environment variables
+# it needs to find the FRC plugins and models.
+#----------------------------------------------------------------------------
+usage() {
+ echo $1: Invoke Gazebo for FRC
+ echo Usage:
+ echo " $1 name-of-world-file"
+}
+
+d=`dirname "$0"`
+fulldir=`(cd "$d"; pwd)`
+sharedir=/usr/share/frcgazebo
+if [ -d "$fulldir/../share" ] ; then
+ sharedir=`(cd "$fulldir/../share/frcgazebo"; pwd)`
+fi
+
+# While we wait for the frc gazebo models to have a proper
+# home, we require the user to make them accessible
+if [ ! -d "$sharedir" ] ; then
+ cravedir=`(cd "$fulldir/../"; pwd)`
+ echo Error: you must manually place the models and world into $cravedir/share/frcgazebo
+ exit 2
+fi
+
+libsdir=/invalid/directory
+if [ -d "$fulldir/../libs" ] ; then
+ libsdir=`(cd "$fulldir/../libs"; pwd)`
+fi
+
+# Use exactly the file they gave us, or find it in ../share/frcgazebo/worlds,
+# or find it there by adding a .world extension
+world="$1"
+if [ ! -f "$world" ] ; then
+ world="$sharedir/worlds/$1"
+fi
+if [ ! -f "$world" ] ; then
+ world="$sharedir/worlds/$1.world"
+fi
+
+if [ $# -ne 1 -o "x${1:0:1}" = "x-" ] ; then
+ usage `basename $0`
+ exit 1
+fi
+if [ ! -f "$world" ] ; then
+ echo Could not find $1 directly or in $sharedir/worlds
+ exit 2
+fi
+
+export GAZEBO_MODEL_PATH="$sharedir/models":$GAZEBO_MODEL_PATH
+for x in `find "$libsdir" -type d -name shared` ; do
+ export GAZEBO_PLUGIN_PATH="$x:$GAZEBO_PLUGIN_PATH"
+done
+
+gazebo "$world"