Class EntityPoseSetter

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class EntityPoseSetter : public rclcpp::Node

A ROS 2 node for setting entity poses in a Gazebo simulation.

Public Functions

EntityPoseSetter()

Default constructor. Initializes the node and pose setter client.

explicit EntityPoseSetter(rclcpp::Client<ros_gz_interfaces::srv::SetEntityPose>::SharedPtr client)

Constructor that accepts an external pose service client.

Parameters:

client – [in] Shared pointer to the set entity pose service client.

bool set_entity_pose(const std::string &entity_name, int entity_id, int entity_type, double x, double y, double z, double qx, double qy, double qz, double qw, bool use_quaternion = true)

Sets the pose of an entity in the simulation.

Parameters:

  • entity_name – [in] Name of the entity.

  • entity_id – [in] ID of the entity.

  • entity_type – [in] Type of the entity.

  • x – [in] X position coordinate.

  • y – [in] Y position coordinate.

  • z – [in] Z position coordinate.

  • qx – [in] First orientation parameter (quaternion X component or roll angle).

  • qy – [in] Second orientation parameter (quaternion Y component or pitch angle).

  • qz – [in] Third orientation parameter (quaternion Z component or yaw angle).

  • qw – [in] Fourth orientation parameter (quaternion W component, ignored for ] Euler angles).

  • use_quaternion – [in] If true, orientation parameters are interpreted as quaternion components. If false, they are interpreted as Euler angles (roll, pitch, yaw).

Returns:

True if the entity pose was set successfully, false otherwise.

Protected Attributes

rclcpp::Client<ros_gz_interfaces::srv::SetEntityPose>::SharedPtr client_

Client used to call the set entity pose service.