gazebo::GazeboObjectInfo Class Reference

#include <GazeboObjectInfo.h>

List of all members.

Public Types
typedef object_msgs::ObjectInfo	ObjectInfoMsg
typedef object_msgs::Object	ObjectMsg
Public Member Functions
	GazeboObjectInfo ()
void	Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)
Private Member Functions
void	advertEvent (const ros::TimerEvent &e)
ObjectMsg	createBoundingBoxObject (physics::ModelPtr &model, bool include_shape)
shape_msgs::SolidPrimitive *	getSolidPrimitive (physics::CollisionPtr &c)
void	onWorldUpdate ()
bool	requestObject (object_msgs::ObjectInfo::Request &req, object_msgs::ObjectInfo::Response &res)
Private Attributes
std::vector< ObjectMsg >	lastGeneratedObjects
ros::Publisher	object_pub
bool	PUBLISH_OBJECTS
ros::Timer	publishTimer
bool	reGenerateObjects
ros::ServiceServer	request_object_srv
std::string	REQUEST_OBJECTS_TOPIC
std::string	ROOT_FRAME_ID
event::ConnectionPtr	update_connection
physics::WorldPtr	world
std::string	WORLD_OBJECTS_TOPIC

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Detailed Description

A Gazebo *World* plugin which publishes information about objects in the gazebo world via a ROS message (object_msgs::Object). Until now, only bounding box representations of the objects are supported.

Also provides a service to request information about an object directly.

The plugin parameters can be specified in a YAML file, which needs to be loaded onto the parameter server under **namespace gazebo_state_plugins**, as follows:

``` # Continuously publish info of gazebo objects? publish_world_objects: true

# the topic onto which to publish object info of # type object_msgs/Object world_objects_topic: "/gazebo_objects"

# The topic onto which to publish the service # which can be used to request object info request_object_service: "/gazebo_objects/get_info"

# frame of the objects poses that will be published. # Should usually be 'world' objects_frame_id: "world" ```

Author:

Jennifer Buehler

Definition at line 49 of file GazeboObjectInfo.h.

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Member Typedef Documentation

typedef object_msgs::ObjectInfo gazebo::GazeboObjectInfo::ObjectInfoMsg

Definition at line 53 of file GazeboObjectInfo.h.

typedef object_msgs::Object gazebo::GazeboObjectInfo::ObjectMsg

Definition at line 52 of file GazeboObjectInfo.h.

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Constructor & Destructor Documentation

GazeboObjectInfo::GazeboObjectInfo

(

)

Definition at line 26 of file GazeboObjectInfo.cpp.

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Member Function Documentation

void GazeboObjectInfo::advertEvent

(

const ros::TimerEvent &

e

)

[private]

Definition at line 78 of file GazeboObjectInfo.cpp.

GazeboObjectInfo::ObjectMsg GazeboObjectInfo::createBoundingBoxObject	(	physics::ModelPtr &	model,
		bool	include_shape
	)		[private]

Definition at line 177 of file GazeboObjectInfo.cpp.

shape_msgs::SolidPrimitive * GazeboObjectInfo::getSolidPrimitive

(

physics::CollisionPtr &

c

)

[private]

Definition at line 108 of file GazeboObjectInfo.cpp.

void GazeboObjectInfo::Load	(	physics::WorldPtr	_world,
		sdf::ElementPtr	_sdf
	)

Definition at line 31 of file GazeboObjectInfo.cpp.

void GazeboObjectInfo::onWorldUpdate

(

)

[private]

Definition at line 89 of file GazeboObjectInfo.cpp.

bool GazeboObjectInfo::requestObject	(	object_msgs::ObjectInfo::Request &	req,
		object_msgs::ObjectInfo::Response &	res
	)		[private]

Definition at line 59 of file GazeboObjectInfo.cpp.

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Member Data Documentation

std::vector<ObjectMsg> gazebo::GazeboObjectInfo::lastGeneratedObjects [private]

Definition at line 90 of file GazeboObjectInfo.h.

ros::Publisher gazebo::GazeboObjectInfo::object_pub [private]

Definition at line 84 of file GazeboObjectInfo.h.

bool gazebo::GazeboObjectInfo::PUBLISH_OBJECTS [private]

Definition at line 76 of file GazeboObjectInfo.h.

ros::Timer gazebo::GazeboObjectInfo::publishTimer [private]

Definition at line 88 of file GazeboObjectInfo.h.

bool gazebo::GazeboObjectInfo::reGenerateObjects [private]

Definition at line 91 of file GazeboObjectInfo.h.

ros::ServiceServer gazebo::GazeboObjectInfo::request_object_srv [private]

Definition at line 86 of file GazeboObjectInfo.h.

std::string gazebo::GazeboObjectInfo::REQUEST_OBJECTS_TOPIC [private]

Definition at line 78 of file GazeboObjectInfo.h.

std::string gazebo::GazeboObjectInfo::ROOT_FRAME_ID [private]

Definition at line 79 of file GazeboObjectInfo.h.

event::ConnectionPtr gazebo::GazeboObjectInfo::update_connection [private]

Definition at line 83 of file GazeboObjectInfo.h.

physics::WorldPtr gazebo::GazeboObjectInfo::world [private]

Definition at line 81 of file GazeboObjectInfo.h.

std::string gazebo::GazeboObjectInfo::WORLD_OBJECTS_TOPIC [private]

Definition at line 77 of file GazeboObjectInfo.h.

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The documentation for this class was generated from the following files:

• GazeboObjectInfo.h
• GazeboObjectInfo.cpp