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A sample gazebo dynamic plugin. More...
Classes | |
class | gazebo::GazeboRosPubWorldState |
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>