Class GazeboRosForceSystem

Defined in File gazebo_ros_force_system.hpp

Inheritance Relationships

Base Type

public gazebo::SystemPlugin

Class Documentation

class GazeboRosForceSystem : public gazebo::SystemPlugin

Provides services and topics to Apply and clear wrenches on gazebo links. Apply and clear forces on gazebo joints

Services:

 apply_link_wrench (gazebo_msgs::srv::ApplyLinkWrench)
     Apply wrench on gazebo links

 clear_link_wrenches (gazebo_msgs::srv::LinkRequest)
     Clear wrenches on gazebo links.

 apply_joint_effort (gazebo_msgs::srv::ApplyJointEffort)
     Apply effort on gazebo joints

 clear_joint_efforts (gazebo_msgs::srv::JointRequest)
     Clear efforts on gazebo joints.

Public Functions

GazeboRosForceSystem(): Constructor.

virtual ~GazeboRosForceSystem(): Destructor.

void Load(int argc, char **argv) override