GazeboRosPubWorldState
[Gazebo ROS Dynamic Plugins]

A sample gazebo dynamic plugin. More...

Collaboration diagram for GazeboRosPubWorldState:

Classes
class	gazebo::GazeboRosPubWorldState

---

Detailed Description

A sample gazebo dynamic plugin.

This is a gazebo controller that does nothing

Example Usage:

    <model:physical name="robot_model1">

      <controller:gazebo_ros_pub_world_state name="gazebo_ros_pub_world_state_controller" plugin="libgazebo_ros_pub_world_state.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>1000.0</updateRate>
      </controller:gazebo_ros_pub_world_state>

      <xyz>0.0 0.0 0.02</xyz>
      <rpy>0.0 0.0 0.0 </rpy>

      <!-- a box -->
      <body:box name="test_block">
          <massMatrix>true</massMatrix>
          <mass>1000</mass>
          <ixx>100</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>100</iyy>
          <iyz>0</iyz>
          <izz>100</izz>
          <cx>0</cx>
          <cy>0</cy>
          <cz>0</cz>
          <xyz>0 0 0.002</xyz>
          <rpy>0 -0 0</rpy>
          <geom:box name="test_block_collision_geom">
              <xyz>0 0 10</xyz>
              <rpy>0 0 0</rpy>
              <size>20 20 20</size>
              <visual>
                  <xyz>0 0 0</xyz>
                  <rpy>0 -0 0</rpy>
                  <scale>20 20 20</scale>
                  <mesh>unit_box</mesh>
                  <material>Gazebo/GrassFloor</material>
              </visual>
          </geom:box>
      </body:box>

    </model:physical>