set_model_pose.cpp File Reference

#include <ros/ros.h>
#include <urdf/model.h>
#include <tinyxml.h>
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include <std_srvs/Empty.h>
#include <gazebo_msgs/GetModelProperties.h>
#include <gazebo_msgs/GetModelState.h>
#include <gazebo_msgs/GetLinkState.h>
#include <gazebo_msgs/SetLinkState.h>
#include <gazebo_msgs/LinkState.h>
#include <geometry_msgs/Pose.h>
#include <gazebo/World.hh>
#include <gazebo/Model.hh>
#include <gazebo/Entity.hh>
#include <gazebo/Body.hh>
#include <boost/shared_ptr.hpp>

Include dependency graph for set_model_pose.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char **argv)
void	setup_transform (btTransform &transform, geometry_msgs::Pose pose)
void	setup_transform (btTransform &transform, urdf::Pose pose)
void	traverse_tree (boost::shared_ptr< const urdf::Link > link, const btTransform &transform, ros::ServiceClient set_link_state_client, std::string gazebo_model_name, int level=0)

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 164 of file set_model_pose.cpp.

void setup_transform	(	btTransform &	transform,
		geometry_msgs::Pose	pose
	)

Definition at line 68 of file set_model_pose.cpp.

void setup_transform	(	btTransform &	transform,
		urdf::Pose	pose
	)

Get's Model pose from Gazebo, iterated through urdf model and determines inertial pose of each body/link based on joint position

Definition at line 62 of file set_model_pose.cpp.

void traverse_tree	(	boost::shared_ptr< const urdf::Link >	link,
		const btTransform &	transform,
		ros::ServiceClient	set_link_state_client,
		std::string	gazebo_model_name,
		int	level = 0
	)

Definition at line 76 of file set_model_pose.cpp.