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 More... | |
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 | deleteLight (gazebo_msgs::DeleteLight::Request &req, gazebo_msgs::DeleteLight::Response &res) |
delete a given light by name More... | |
bool | deleteModel (gazebo_msgs::DeleteModel::Request &req, gazebo_msgs::DeleteModel::Response &res) |
delete model given name More... | |
void | gazeboQueueThread () |
ros queue thread for this node More... | |
GazeboRosApiPlugin () | |
Constructor. More... | |
bool | getJointProperties (gazebo_msgs::GetJointProperties::Request &req, gazebo_msgs::GetJointProperties::Response &res) |
bool | getLightProperties (gazebo_msgs::GetLightProperties::Request &req, gazebo_msgs::GetLightProperties::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. More... | |
void | onLinkStatesConnect () |
Callback for a subscriber connecting to LinkStates ros topic. More... | |
void | onLinkStatesDisconnect () |
Callback for a subscriber disconnecting from LinkStates ros topic. More... | |
void | onModelStatesConnect () |
Callback for a subscriber connecting to ModelStates ros topic. More... | |
void | onModelStatesDisconnect () |
Callback for a subscriber disconnecting from ModelStates ros topic. More... | |
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 | setLightProperties (gazebo_msgs::SetLightProperties::Request &req, gazebo_msgs::SetLightProperties::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 More... | |
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. More... | |
bool | spawnURDFModel (gazebo_msgs::SpawnModel::Request &req, gazebo_msgs::SpawnModel::Response &res) |
Function for inserting a URDF into Gazebo from ROS Service Call. More... | |
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. More... | |
Private Member Functions | |
void | forceJointSchedulerSlot () |
bool | isSDF (std::string model_xml) |
utility for checking if string is in SDF format More... | |
bool | isURDF (std::string model_xml) |
utility for checking if string is in URDF format More... | |
void | loadGazeboRosApiPlugin (std::string world_name) |
Connect to Gazebo via its plugin interface, get a pointer to the world, start events. More... | |
void | onResponse (ConstResponsePtr &response) |
Unused. More... | |
ignition::math::Pose3d | parsePose (const std::string &str) |
convert xml to Pose More... | |
ignition::math::Vector3d | parseVector3 (const std::string &str) |
convert xml to Pose More... | |
void | physicsReconfigureCallback (gazebo_ros::PhysicsConfig &config, uint32_t level) |
Used for the dynamic reconfigure callback function template. More... | |
void | physicsReconfigureThread () |
waits for the rest of Gazebo to be ready before initializing the dynamic reconfigure services More... | |
void | publishLinkStates () |
void | publishModelStates () |
void | publishSimTime (const boost::shared_ptr< gazebo::msgs::WorldStatistics const > &msg) |
void | publishSimTime () |
bool | spawnAndConform (TiXmlDocument &gazebo_model_xml, const std::string &model_name, gazebo_msgs::SpawnModel::Response &res) |
void | stripXmlDeclaration (std::string &model_xml) |
void | transformWrench (ignition::math::Vector3d &target_force, ignition::math::Vector3d &target_torque, const ignition::math::Vector3d &reference_force, const ignition::math::Vector3d &reference_torque, const ignition::math::Pose3d &target_to_reference) |
helper function for applyBodyWrench shift wrench from reference frame to target frame More... | |
void | updateSDFAttributes (TiXmlDocument &gazebo_model_xml, const std::string &model_name, const ignition::math::Vector3d &initial_xyz, const ignition::math::Quaterniond &initial_q) |
Update the model name and pose of the SDF file before sending to Gazebo. More... | |
void | updateURDFModelPose (TiXmlDocument &gazebo_model_xml, const ignition::math::Vector3d &initial_xyz, const ignition::math::Quaterniond &initial_q) |
Update the model pose of the URDF file before sending to Gazebo. More... | |
void | updateURDFName (TiXmlDocument &gazebo_model_xml, const std::string &model_name) |
Update the model name of the URDF file before sending to Gazebo. More... | |
void | walkChildAddRobotNamespace (TiXmlNode *model_xml) |
void | wrenchBodySchedulerSlot () |
A plugin loaded within the gzserver on startup.
Definition at line 115 of file gazebo_ros_api_plugin.h.
gazebo::GazeboRosApiPlugin::GazeboRosApiPlugin | ( | ) |
Constructor.
Definition at line 30 of file gazebo_ros_api_plugin.cpp.
gazebo::GazeboRosApiPlugin::~GazeboRosApiPlugin | ( | ) |
Destructor.
Definition at line 43 of file gazebo_ros_api_plugin.cpp.
void gazebo::GazeboRosApiPlugin::advertiseServices | ( | ) |
advertise services
Definition at line 246 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
Definition at line 1907 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::applyJointEffort | ( | gazebo_msgs::ApplyJointEffort::Request & | req, |
gazebo_msgs::ApplyJointEffort::Response & | res | ||
) |
Definition at line 1638 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::clearBodyWrenches | ( | gazebo_msgs::BodyRequest::Request & | req, |
gazebo_msgs::BodyRequest::Response & | res | ||
) |
Definition at line 1732 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::clearBodyWrenches | ( | std::string | body_name | ) |
Definition at line 1737 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::clearJointForces | ( | gazebo_msgs::JointRequest::Request & | req, |
gazebo_msgs::JointRequest::Response & | res | ||
) |
Definition at line 1704 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::clearJointForces | ( | std::string | joint_name | ) |
Definition at line 1709 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::deleteLight | ( | gazebo_msgs::DeleteLight::Request & | req, |
gazebo_msgs::DeleteLight::Response & | res | ||
) |
delete a given light by name
Definition at line 876 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 805 of file gazebo_ros_api_plugin.cpp.
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Definition at line 2104 of file gazebo_ros_api_plugin.cpp.
void gazebo::GazeboRosApiPlugin::gazeboQueueThread | ( | ) |
ros queue thread for this node
Definition at line 237 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::getJointProperties | ( | gazebo_msgs::GetJointProperties::Request & | req, |
gazebo_msgs::GetJointProperties::Response & | res | ||
) |
Definition at line 1118 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::getLightProperties | ( | gazebo_msgs::GetLightProperties::Request & | req, |
gazebo_msgs::GetLightProperties::Response & | res | ||
) |
Definition at line 1302 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::getLinkProperties | ( | gazebo_msgs::GetLinkProperties::Request & | req, |
gazebo_msgs::GetLinkProperties::Response & | res | ||
) |
Definition at line 1164 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::getLinkState | ( | gazebo_msgs::GetLinkState::Request & | req, |
gazebo_msgs::GetLinkState::Response & | res | ||
) |
Definition at line 1222 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::getModelProperties | ( | gazebo_msgs::GetModelProperties::Request & | req, |
gazebo_msgs::GetModelProperties::Response & | res | ||
) |
Definition at line 1032 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::getModelState | ( | gazebo_msgs::GetModelState::Request & | req, |
gazebo_msgs::GetModelState::Response & | res | ||
) |
creates a header for the result
this is a redundant information
Definition at line 923 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 1450 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::getWorldProperties | ( | gazebo_msgs::GetWorldProperties::Request & | req, |
gazebo_msgs::GetWorldProperties::Response & | res | ||
) |
Definition at line 1098 of file gazebo_ros_api_plugin.cpp.
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utility for checking if string is in SDF format
Definition at line 2053 of file gazebo_ros_api_plugin.cpp.
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utility for checking if string is in URDF format
Definition at line 2043 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
_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 114 of file gazebo_ros_api_plugin.cpp.
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Connect to Gazebo via its plugin interface, get a pointer to the world, start events.
advertise all services
Definition at line 160 of file gazebo_ros_api_plugin.cpp.
void gazebo::GazeboRosApiPlugin::onLinkStatesConnect | ( | ) |
Callback for a subscriber connecting to LinkStates ros topic.
Definition at line 554 of file gazebo_ros_api_plugin.cpp.
void gazebo::GazeboRosApiPlugin::onLinkStatesDisconnect | ( | ) |
Callback for a subscriber disconnecting from LinkStates ros topic.
Definition at line 591 of file gazebo_ros_api_plugin.cpp.
void gazebo::GazeboRosApiPlugin::onModelStatesConnect | ( | ) |
Callback for a subscriber connecting to ModelStates ros topic.
Definition at line 561 of file gazebo_ros_api_plugin.cpp.
void gazebo::GazeboRosApiPlugin::onModelStatesDisconnect | ( | ) |
Callback for a subscriber disconnecting from ModelStates ros topic.
Definition at line 602 of file gazebo_ros_api_plugin.cpp.
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Unused.
Definition at line 205 of file gazebo_ros_api_plugin.cpp.
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convert xml to Pose
Definition at line 2479 of file gazebo_ros_api_plugin.cpp.
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convert xml to Pose
Definition at line 2512 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::pausePhysics | ( | std_srvs::Empty::Request & | req, |
std_srvs::Empty::Response & | res | ||
) |
Definition at line 1692 of file gazebo_ros_api_plugin.cpp.
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Used for the dynamic reconfigure callback function template.
Definition at line 2280 of file gazebo_ros_api_plugin.cpp.
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waits for the rest of Gazebo to be ready before initializing the dynamic reconfigure services
Definition at line 2353 of file gazebo_ros_api_plugin.cpp.
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Definition at line 2179 of file gazebo_ros_api_plugin.cpp.
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Definition at line 2236 of file gazebo_ros_api_plugin.cpp.
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Definition at line 2139 of file gazebo_ros_api_plugin.cpp.
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Definition at line 2157 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::resetSimulation | ( | std_srvs::Empty::Request & | req, |
std_srvs::Empty::Response & | res | ||
) |
Definition at line 1680 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::resetWorld | ( | std_srvs::Empty::Request & | req, |
std_srvs::Empty::Response & | res | ||
) |
Definition at line 1686 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::setJointProperties | ( | gazebo_msgs::SetJointProperties::Request & | req, |
gazebo_msgs::SetJointProperties::Response & | res | ||
) |
Definition at line 1502 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::setLightProperties | ( | gazebo_msgs::SetLightProperties::Request & | req, |
gazebo_msgs::SetLightProperties::Response & | res | ||
) |
Definition at line 1336 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::setLinkProperties | ( | gazebo_msgs::SetLinkProperties::Request & | req, |
gazebo_msgs::SetLinkProperties::Response & | res | ||
) |
Definition at line 1373 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::setLinkState | ( | gazebo_msgs::SetLinkState::Request & | req, |
gazebo_msgs::SetLinkState::Response & | res | ||
) |
Definition at line 1809 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::setModelConfiguration | ( | gazebo_msgs::SetModelConfiguration::Request & | req, |
gazebo_msgs::SetModelConfiguration::Response & | res | ||
) |
Definition at line 1761 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::setModelState | ( | gazebo_msgs::SetModelState::Request & | req, |
gazebo_msgs::SetModelState::Response & | res | ||
) |
Definition at line 1554 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 1403 of file gazebo_ros_api_plugin.cpp.
void gazebo::GazeboRosApiPlugin::shutdownSignal | ( | ) |
Detect if sig-int shutdown signal is recieved
Definition at line 108 of file gazebo_ros_api_plugin.cpp.
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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 2639 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.
Definition at line 692 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
Definition at line 613 of file gazebo_ros_api_plugin.cpp.
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STRIP DECLARATION <? ... xml version="1.0" ... ?> from model_xml
Definition at line 2370 of file gazebo_ros_api_plugin.cpp.
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helper function for applyBodyWrench shift wrench from reference frame to target frame
Definition at line 1893 of file gazebo_ros_api_plugin.cpp.
bool gazebo::GazeboRosApiPlugin::unpausePhysics | ( | std_srvs::Empty::Request & | req, |
std_srvs::Empty::Response & | res | ||
) |
Definition at line 1698 of file gazebo_ros_api_plugin.cpp.
void gazebo::GazeboRosApiPlugin::updateLinkState | ( | const gazebo_msgs::LinkState::ConstPtr & | link_state | ) |
Definition at line 1885 of file gazebo_ros_api_plugin.cpp.
void gazebo::GazeboRosApiPlugin::updateModelState | ( | const gazebo_msgs::ModelState::ConstPtr & | model_state | ) |
Definition at line 1630 of file gazebo_ros_api_plugin.cpp.
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Update the model name and pose of the SDF file before sending to Gazebo.
Definition at line 2384 of file gazebo_ros_api_plugin.cpp.
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Update the model pose of the URDF file before sending to Gazebo.
Definition at line 2545 of file gazebo_ros_api_plugin.cpp.
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Update the model name of the URDF file before sending to Gazebo.
Definition at line 2593 of file gazebo_ros_api_plugin.cpp.
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Definition at line 2611 of file gazebo_ros_api_plugin.cpp.
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Definition at line 2065 of file gazebo_ros_api_plugin.cpp.
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index counters to count the accesses on models via GetModelState
Definition at line 438 of file gazebo_ros_api_plugin.h.
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Definition at line 374 of file gazebo_ros_api_plugin.h.
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Definition at line 377 of file gazebo_ros_api_plugin.h.
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Definition at line 342 of file gazebo_ros_api_plugin.h.
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Definition at line 357 of file gazebo_ros_api_plugin.h.
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A mutex to lock access to fields that are used in ROS message callbacks.
Definition at line 411 of file gazebo_ros_api_plugin.h.
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Definition at line 339 of file gazebo_ros_api_plugin.h.
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Definition at line 333 of file gazebo_ros_api_plugin.h.
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Definition at line 354 of file gazebo_ros_api_plugin.h.
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Definition at line 383 of file gazebo_ros_api_plugin.h.
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Definition at line 351 of file gazebo_ros_api_plugin.h.
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Definition at line 413 of file gazebo_ros_api_plugin.h.
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Definition at line 434 of file gazebo_ros_api_plugin.h.
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Definition at line 352 of file gazebo_ros_api_plugin.h.