A plugin loaded within the gzserver on startup. More...

#include <gazebo_ros_api_plugin.h>

Classes
class	ForceJointJob
class	WrenchBodyJob
Public Member Functions
void	advertiseServices ()
	advertise services
bool	applyBodyWrench (gazebo_msgs::ApplyBodyWrench::Request &req, gazebo_msgs::ApplyBodyWrench::Response &res)
bool	applyJointEffort (gazebo_msgs::ApplyJointEffort::Request &req, gazebo_msgs::ApplyJointEffort::Response &res)
bool	clearBodyWrenches (gazebo_msgs::BodyRequest::Request &req, gazebo_msgs::BodyRequest::Response &res)
bool	clearBodyWrenches (std::string body_name)
bool	clearJointForces (gazebo_msgs::JointRequest::Request &req, gazebo_msgs::JointRequest::Response &res)
bool	clearJointForces (std::string joint_name)
bool	deleteModel (gazebo_msgs::DeleteModel::Request &req, gazebo_msgs::DeleteModel::Response &res)
	delete model given name
void	gazeboQueueThread ()
	ros queue thread for this node
	GazeboRosApiPlugin ()
	Constructor.
bool	getJointProperties (gazebo_msgs::GetJointProperties::Request &req, gazebo_msgs::GetJointProperties::Response &res)
bool	getLinkProperties (gazebo_msgs::GetLinkProperties::Request &req, gazebo_msgs::GetLinkProperties::Response &res)
bool	getLinkState (gazebo_msgs::GetLinkState::Request &req, gazebo_msgs::GetLinkState::Response &res)
bool	getModelProperties (gazebo_msgs::GetModelProperties::Request &req, gazebo_msgs::GetModelProperties::Response &res)
bool	getModelState (gazebo_msgs::GetModelState::Request &req, gazebo_msgs::GetModelState::Response &res)
bool	getPhysicsProperties (gazebo_msgs::GetPhysicsProperties::Request &req, gazebo_msgs::GetPhysicsProperties::Response &res)
bool	getWorldProperties (gazebo_msgs::GetWorldProperties::Request &req, gazebo_msgs::GetWorldProperties::Response &res)
void	Load (int argc, char **argv)
	Gazebo-inherited load function.
void	onLinkStatesConnect ()
void	onLinkStatesDisconnect ()
void	onModelStatesConnect ()
void	onModelStatesDisconnect ()
bool	pausePhysics (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	resetSimulation (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	resetWorld (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	setJointProperties (gazebo_msgs::SetJointProperties::Request &req, gazebo_msgs::SetJointProperties::Response &res)
bool	setLinkProperties (gazebo_msgs::SetLinkProperties::Request &req, gazebo_msgs::SetLinkProperties::Response &res)
bool	setLinkState (gazebo_msgs::SetLinkState::Request &req, gazebo_msgs::SetLinkState::Response &res)
bool	setModelConfiguration (gazebo_msgs::SetModelConfiguration::Request &req, gazebo_msgs::SetModelConfiguration::Response &res)
bool	setModelState (gazebo_msgs::SetModelState::Request &req, gazebo_msgs::SetModelState::Response &res)
bool	setPhysicsProperties (gazebo_msgs::SetPhysicsProperties::Request &req, gazebo_msgs::SetPhysicsProperties::Response &res)
void	shutdownSignal ()
	Detect if sig-int shutdown signal is recieved
ROS_DEPRECATED bool	spawnGazeboModel (gazebo_msgs::SpawnModel::Request &req, gazebo_msgs::SpawnModel::Response &res)
	Function for inserting a URDF into Gazebo from ROS Service Call. Deprecated in ROS Hydro - replace with spawnURDFModel()
bool	spawnSDFModel (gazebo_msgs::SpawnModel::Request &req, gazebo_msgs::SpawnModel::Response &res)
	Both SDFs and converted URDFs get sent to this function for further manipulation from a ROS Service call.
bool	spawnURDFModel (gazebo_msgs::SpawnModel::Request &req, gazebo_msgs::SpawnModel::Response &res)
	Function for inserting a URDF into Gazebo from ROS Service Call.
bool	unpausePhysics (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	updateLinkState (const gazebo_msgs::LinkState::ConstPtr &link_state)
void	updateModelState (const gazebo_msgs::ModelState::ConstPtr &model_state)
	~GazeboRosApiPlugin ()
	Destructor.
Private Member Functions
void	forceJointSchedulerSlot ()
bool	isSDF (std::string model_xml)
	utility for checking if string is in SDF format
bool	isURDF (std::string model_xml)
	utility for checking if string is in URDF format
void	loadGazeboRosApiPlugin (std::string world_name)
	Connect to Gazebo via its plugin interface, get a pointer to the world, start events.
void	onResponse (ConstResponsePtr &response)
	Unused.
gazebo::math::Pose	parsePose (const std::string &str)
	convert xml to Pose
gazebo::math::Vector3	parseVector3 (const std::string &str)
	convert xml to Pose
void	physicsReconfigureCallback (gazebo_ros::PhysicsConfig &config, uint32_t level)
	Used for the dynamic reconfigure callback function template.
void	physicsReconfigureThread ()
	waits for the rest of Gazebo to be ready before initializing the dynamic reconfigure services
void	publishLinkStates ()
void	publishModelStates ()
void	publishSimTime (const boost::shared_ptr< gazebo::msgs::WorldStatistics const > &msg)
void	publishSimTime ()
bool	spawnAndConform (TiXmlDocument &gazebo_model_xml, std::string model_name, gazebo_msgs::SpawnModel::Response &res)
void	stripXmlDeclaration (std::string &model_xml)
void	transformWrench (gazebo::math::Vector3 &target_force, gazebo::math::Vector3 &target_torque, gazebo::math::Vector3 reference_force, gazebo::math::Vector3 reference_torque, gazebo::math::Pose target_to_reference)
	helper function for applyBodyWrench shift wrench from reference frame to target frame
void	updateSDFAttributes (TiXmlDocument &gazebo_model_xml, std::string model_name, gazebo::math::Vector3 initial_xyz, gazebo::math::Quaternion initial_q)
	Update the model name and pose of the SDF file before sending to Gazebo.
void	updateURDFModelPose (TiXmlDocument &gazebo_model_xml, gazebo::math::Vector3 initial_xyz, gazebo::math::Quaternion initial_q)
	Update the model pose of the URDF file before sending to Gazebo.
void	updateURDFName (TiXmlDocument &gazebo_model_xml, std::string model_name)
	Update the model name of the URDF file before sending to Gazebo.
void	walkChildAddRobotNamespace (TiXmlNode *robot_xml)
void	wrenchBodySchedulerSlot ()
Private Attributes
ros::ServiceServer	apply_body_wrench_service_
ros::ServiceServer	apply_joint_effort_service_
boost::shared_ptr < ros::AsyncSpinner >	async_ros_spin_
ros::ServiceServer	clear_body_wrenches_service_
ros::ServiceServer	clear_joint_forces_service_
ros::ServiceServer	delete_model_service_
gazebo::transport::PublisherPtr	factory_pub_
std::vector < GazeboRosApiPlugin::ForceJointJob * >	force_joint_jobs_
gazebo::event::ConnectionPtr	force_update_event_
boost::shared_ptr< boost::thread >	gazebo_callback_queue_thread_
ros::CallbackQueue	gazebo_queue_
gazebo::transport::NodePtr	gazebonode_
ros::ServiceServer	get_joint_properties_service_
ros::ServiceServer	get_link_properties_service_
ros::ServiceServer	get_link_state_service_
ros::ServiceServer	get_model_properties_service_
ros::ServiceServer	get_model_state_service_
ros::ServiceServer	get_physics_properties_service_
ros::ServiceServer	get_world_properties_service_
gazebo::event::ConnectionPtr	load_gazebo_ros_api_plugin_event_
boost::mutex	lock_
	A mutex to lock access to fields that are used in ROS message callbacks.
boost::shared_ptr < ros::NodeHandle >	nh_
ros::ServiceServer	pause_physics_service_
dynamic_reconfigure::Server < gazebo_ros::PhysicsConfig > ::CallbackType	physics_reconfigure_callback_
ros::ServiceClient	physics_reconfigure_get_client_
bool	physics_reconfigure_initialized_
ros::ServiceClient	physics_reconfigure_set_client_
boost::shared_ptr < dynamic_reconfigure::Server < gazebo_ros::PhysicsConfig > >	physics_reconfigure_srv_
boost::shared_ptr< boost::thread >	physics_reconfigure_thread_
bool	plugin_loaded_
ros::Publisher	pub_clock_
ros::Publisher	pub_link_states_
int	pub_link_states_connection_count_
gazebo::event::ConnectionPtr	pub_link_states_event_
ros::Publisher	pub_model_states_
int	pub_model_states_connection_count_
gazebo::event::ConnectionPtr	pub_model_states_event_
gazebo::transport::PublisherPtr	request_pub_
ros::ServiceServer	reset_simulation_service_
ros::ServiceServer	reset_world_service_
gazebo::transport::SubscriberPtr	response_sub_
std::string	robot_namespace_
ros::ServiceServer	set_joint_properties_service_
ros::ServiceServer	set_link_properties_service_
ros::ServiceServer	set_link_state_service_
ros::Subscriber	set_link_state_topic_
ros::ServiceServer	set_model_configuration_service_
ros::ServiceServer	set_model_state_service_
ros::Subscriber	set_model_state_topic_
ros::ServiceServer	set_physics_properties_service_
gazebo::event::ConnectionPtr	sigint_event_
ros::ServiceServer	spawn_gazebo_model_service_
ros::ServiceServer	spawn_sdf_model_service_
ros::ServiceServer	spawn_urdf_model_service_
gazebo::transport::SubscriberPtr	stat_sub_
bool	stop_
gazebo::event::ConnectionPtr	time_update_event_
ros::ServiceServer	unpause_physics_service_
gazebo::physics::WorldPtr	world_
bool	world_created_
std::vector < GazeboRosApiPlugin::WrenchBodyJob * >	wrench_body_jobs_
gazebo::event::ConnectionPtr	wrench_update_event_

Detailed Description

A plugin loaded within the gzserver on startup.

Definition at line 103 of file gazebo_ros_api_plugin.h.

Constructor & Destructor Documentation

gazebo::GazeboRosApiPlugin::GazeboRosApiPlugin ( )

Constructor.

Definition at line 30 of file gazebo_ros_api_plugin.cpp.

gazebo::GazeboRosApiPlugin::~GazeboRosApiPlugin ( )

Destructor.

Definition at line 39 of file gazebo_ros_api_plugin.cpp.

Member Function Documentation

void gazebo::GazeboRosApiPlugin::advertiseServices ( )

advertise services

Definition at line 207 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::applyBodyWrench	(	gazebo_msgs::ApplyBodyWrench::Request &	req,
		gazebo_msgs::ApplyBodyWrench::Response &	res
	)

shift wrench to body frame if a non-zero reference point is given

Todo:: : to be more general, should we make the reference point a reference pose?

Todo:: : FIXME map is really wrong, need to use tf here somehow

Definition at line 1577 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::applyJointEffort	(	gazebo_msgs::ApplyJointEffort::Request &	req,
		gazebo_msgs::ApplyJointEffort::Response &	res
	)

Definition at line 1333 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::clearBodyWrenches	(	gazebo_msgs::BodyRequest::Request &	req,
		gazebo_msgs::BodyRequest::Response &	res
	)

Definition at line 1416 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::clearBodyWrenches ( std::string body_name )

Definition at line 1421 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::clearJointForces	(	gazebo_msgs::JointRequest::Request &	req,
		gazebo_msgs::JointRequest::Response &	res
	)

Definition at line 1388 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::clearJointForces ( std::string joint_name )

Definition at line 1393 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::deleteModel	(	gazebo_msgs::DeleteModel::Request &	req,
		gazebo_msgs::DeleteModel::Response &	res
	)

delete model given name

Definition at line 699 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::forceJointSchedulerSlot ( ) [private]

Definition at line 1745 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::gazeboQueueThread ( )

ros queue thread for this node

Definition at line 198 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getJointProperties	(	gazebo_msgs::GetJointProperties::Request &	req,
		gazebo_msgs::GetJointProperties::Response &	res
	)

Todo:: : FIXME

Definition at line 909 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getLinkProperties	(	gazebo_msgs::GetLinkProperties::Request &	req,
		gazebo_msgs::GetLinkProperties::Response &	res
	)

Todo:: : validate

Definition at line 945 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getLinkState	(	gazebo_msgs::GetLinkState::Request &	req,
		gazebo_msgs::GetLinkState::Response &	res
	)

Todo:: : FIXME map is really wrong, need to use tf here somehow

Definition at line 985 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getModelProperties	(	gazebo_msgs::GetModelProperties::Request &	req,
		gazebo_msgs::GetModelProperties::Response &	res
	)

Definition at line 833 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getModelState	(	gazebo_msgs::GetModelState::Request &	req,
		gazebo_msgs::GetModelState::Response &	res
	)

Todo:: : FIXME map is really wrong, need to use tf here somehow

Definition at line 760 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getPhysicsProperties	(	gazebo_msgs::GetPhysicsProperties::Request &	req,
		gazebo_msgs::GetPhysicsProperties::Response &	res
	)

: add support for simbody, dart and bullet physics properties.

Definition at line 1131 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::getWorldProperties	(	gazebo_msgs::GetWorldProperties::Request &	req,
		gazebo_msgs::GetWorldProperties::Response &	res
	)

Definition at line 895 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::isSDF ( std::string model_xml ) [private]

utility for checking if string is in SDF format

Definition at line 1699 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::isURDF ( std::string model_xml ) [private]

utility for checking if string is in URDF format

Definition at line 1689 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::Load	(	int	argc,
		char **	argv
	)

Gazebo-inherited load function.

Called before Gazebo is loaded. Must not block. Capitalized per Gazebo cpp style guidelines

Parameters:

_argc	Number of command line arguments.
_argv	Array of command line arguments.

setup custom callback queue

start a thread for the physics dynamic reconfigure node

Definition at line 103 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::loadGazeboRosApiPlugin ( std::string world_name ) [private]

Connect to Gazebo via its plugin interface, get a pointer to the world, start events.

advertise all services

Definition at line 149 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::onLinkStatesConnect ( )

Definition at line 480 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::onLinkStatesDisconnect ( )

Definition at line 494 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::onModelStatesConnect ( )

Definition at line 487 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::onModelStatesDisconnect ( )

Definition at line 505 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::onResponse ( ConstResponsePtr & response ) [private]

Unused.

Definition at line 193 of file gazebo_ros_api_plugin.cpp.

gazebo::math::Pose gazebo::GazeboRosApiPlugin::parsePose ( const std::string & str ) [private]

convert xml to Pose

Definition at line 2070 of file gazebo_ros_api_plugin.cpp.

gazebo::math::Vector3 gazebo::GazeboRosApiPlugin::parseVector3 ( const std::string & str ) [private]

convert xml to Pose

Definition at line 2103 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::pausePhysics	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 1376 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::physicsReconfigureCallback	(	gazebo_ros::PhysicsConfig &	config,
		uint32_t	level
	)		`[private]`

Used for the dynamic reconfigure callback function template.

Definition at line 1873 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::physicsReconfigureThread ( ) [private]

waits for the rest of Gazebo to be ready before initializing the dynamic reconfigure services

Definition at line 1946 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::publishLinkStates ( ) [private]

Definition at line 1793 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::publishModelStates ( ) [private]

Definition at line 1838 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::publishSimTime ( const boost::shared_ptr< gazebo::msgs::WorldStatistics const > & msg ) [private]

Definition at line 1775 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::publishSimTime ( ) [private]

Definition at line 1784 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::resetSimulation	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 1364 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::resetWorld	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 1370 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setJointProperties	(	gazebo_msgs::SetJointProperties::Request &	req,
		gazebo_msgs::SetJointProperties::Response &	res
	)

Todo:: : current settings only allows for setting of 1DOF joints (e.g. HingeJoint and SliderJoint) correctly.

Definition at line 1189 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setLinkProperties	(	gazebo_msgs::SetLinkProperties::Request &	req,
		gazebo_msgs::SetLinkProperties::Response &	res
	)

Definition at line 1051 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setLinkState	(	gazebo_msgs::SetLinkState::Request &	req,
		gazebo_msgs::SetLinkState::Response &	res
	)

Todo:: : FIXME map is really wrong, unless using tf here somehow

Definition at line 1489 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setModelConfiguration	(	gazebo_msgs::SetModelConfiguration::Request &	req,
		gazebo_msgs::SetModelConfiguration::Response &	res
	)

Definition at line 1445 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setModelState	(	gazebo_msgs::SetModelState::Request &	req,
		gazebo_msgs::SetModelState::Response &	res
	)

Todo:: : FIXME map is really wrong, need to use tf here somehow

Definition at line 1256 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::setPhysicsProperties	(	gazebo_msgs::SetPhysicsProperties::Request &	req,
		gazebo_msgs::SetPhysicsProperties::Response &	res
	)

: add support for simbody, dart and bullet physics properties.

Definition at line 1077 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::shutdownSignal ( )

Detect if sig-int shutdown signal is recieved

Definition at line 97 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::spawnAndConform	(	TiXmlDocument &	gazebo_model_xml,
		std::string	model_name,
		gazebo_msgs::SpawnModel::Response &	res
	)		`[private]`

FIXME: should change publish to direct invocation World::LoadModel() and/or change the poll for Model existence to common::Events based check.

poll and wait, verify that the model is spawned within Hardcoded 10 seconds

Definition at line 2226 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::spawnGazeboModel	(	gazebo_msgs::SpawnModel::Request &	req,
		gazebo_msgs::SpawnModel::Response &	res
	)

Function for inserting a URDF into Gazebo from ROS Service Call. Deprecated in ROS Hydro - replace with spawnURDFModel()

Definition at line 587 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::spawnSDFModel	(	gazebo_msgs::SpawnModel::Request &	req,
		gazebo_msgs::SpawnModel::Response &	res
	)

Both SDFs and converted URDFs get sent to this function for further manipulation from a ROS Service call.

Todo:: : map is really wrong, need to use tf here somehow

Definition at line 594 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::spawnURDFModel	(	gazebo_msgs::SpawnModel::Request &	req,
		gazebo_msgs::SpawnModel::Response &	res
	)

Function for inserting a URDF into Gazebo from ROS Service Call.

STRIP DECLARATION <? ... xml version="1.0" ... ?> from model_xml

Todo:: : does tinyxml have functionality for this?

Todo:: : should gazebo take care of the declaration?

Definition at line 516 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::stripXmlDeclaration ( std::string & model_xml ) [private]

STRIP DECLARATION <? ... xml version="1.0" ... ?> from model_xml

Todo:: : does tinyxml have functionality for this?

Todo:: : should gazebo take care of the declaration?

Definition at line 1963 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::transformWrench	(	gazebo::math::Vector3 &	target_force,
		gazebo::math::Vector3 &	target_torque,
		gazebo::math::Vector3	reference_force,
		gazebo::math::Vector3	reference_torque,
		gazebo::math::Pose	target_to_reference
	)		`[private]`

helper function for applyBodyWrench shift wrench from reference frame to target frame

Definition at line 1564 of file gazebo_ros_api_plugin.cpp.

bool gazebo::GazeboRosApiPlugin::unpausePhysics	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

Definition at line 1382 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::updateLinkState ( const gazebo_msgs::LinkState::ConstPtr & link_state )

Definition at line 1556 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::updateModelState ( const gazebo_msgs::ModelState::ConstPtr & model_state )

Definition at line 1325 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::updateSDFAttributes	(	TiXmlDocument &	gazebo_model_xml,
		std::string	model_name,
		gazebo::math::Vector3	initial_xyz,
		gazebo::math::Quaternion	initial_q
	)		`[private]`

Update the model name and pose of the SDF file before sending to Gazebo.

Definition at line 1977 of file gazebo_ros_api_plugin.cpp.

void gazebo::GazeboRosApiPlugin::updateURDFModelPose	(	TiXmlDocument &	gazebo_model_xml,
		gazebo::math::Vector3	initial_xyz,
		gazebo::math::Quaternion	initial_q
	)		`[private]`