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

#include <gazebo_ros_api_plugin.h>

Inheritance diagram for gazebo::GazeboRosApiPlugin:

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 ()
	Callback to WorldUpdateBegin that publishes /clock. If pub_clock_frequency_ <= 0 (default behavior), it publishes every time step. Otherwise, it attempts to publish at that frequency in Hz. More...

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 ()

Private Attributes
std::map< std::string, unsigned int >	access_count_get_model_state_
	index counters to count the accesses on models via GetModelState More...

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_light_service_

ros::ServiceServer	delete_model_service_

bool	enable_ros_network_
	enable the communication of gazebo information using ROS service/topics More...

gazebo::transport::PublisherPtr	factory_light_pub_

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_light_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::common::Time	last_pub_clock_time_

gazebo::transport::PublisherPtr	light_modify_pub_

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. More...

boost::shared_ptr< ros::NodeHandle >	nh_

ros::ServiceServer	pause_physics_service_

gazebo::transport::SubscriberPtr	performance_metric_sub_

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_

int	pub_clock_frequency_

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_

ros::Publisher	pub_performance_metrics_

int	pub_performance_metrics_connection_count_

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_light_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_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 115 of file gazebo_ros_api_plugin.h.

Constructor & Destructor Documentation

◆ GazeboRosApiPlugin()

gazebo::GazeboRosApiPlugin::GazeboRosApiPlugin ( )

Constructor.

Definition at line 32 of file gazebo_ros_api_plugin.cpp.

◆ ~GazeboRosApiPlugin()

gazebo::GazeboRosApiPlugin::~GazeboRosApiPlugin ( )

Destructor.

Definition at line 46 of file gazebo_ros_api_plugin.cpp.

Member Function Documentation

◆ advertiseServices()

void gazebo::GazeboRosApiPlugin::advertiseServices ( )

advertise services

Definition at line 272 of file gazebo_ros_api_plugin.cpp.

◆ applyBodyWrench()

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 1925 of file gazebo_ros_api_plugin.cpp.

◆ applyJointEffort()

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

Definition at line 1656 of file gazebo_ros_api_plugin.cpp.

◆ clearBodyWrenches() [1/2]

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

Definition at line 1750 of file gazebo_ros_api_plugin.cpp.

◆ clearBodyWrenches() [2/2]

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

Definition at line 1755 of file gazebo_ros_api_plugin.cpp.

◆ clearJointForces() [1/2]

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

Definition at line 1722 of file gazebo_ros_api_plugin.cpp.

◆ clearJointForces() [2/2]

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

Definition at line 1727 of file gazebo_ros_api_plugin.cpp.

◆ deleteLight()

bool gazebo::GazeboRosApiPlugin::deleteLight	(	gazebo_msgs::DeleteLight::Request &	req,
		gazebo_msgs::DeleteLight::Response &	res
	)

delete a given light by name

Definition at line 891 of file gazebo_ros_api_plugin.cpp.

◆ deleteModel()

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

delete model given name

Definition at line 821 of file gazebo_ros_api_plugin.cpp.

◆ forceJointSchedulerSlot()

void gazebo::GazeboRosApiPlugin::forceJointSchedulerSlot ( )

private

Definition at line 2119 of file gazebo_ros_api_plugin.cpp.

◆ gazeboQueueThread()

void gazebo::GazeboRosApiPlugin::gazeboQueueThread ( )

ros queue thread for this node

Definition at line 263 of file gazebo_ros_api_plugin.cpp.

◆ getJointProperties()

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

Todo:: : FIXME

Definition at line 1132 of file gazebo_ros_api_plugin.cpp.

◆ getLightProperties()

bool gazebo::GazeboRosApiPlugin::getLightProperties	(	gazebo_msgs::GetLightProperties::Request &	req,
		gazebo_msgs::GetLightProperties::Response &	res
	)

Definition at line 1316 of file gazebo_ros_api_plugin.cpp.

◆ getLinkProperties()

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

Todo:: : validate

Definition at line 1178 of file gazebo_ros_api_plugin.cpp.

◆ getLinkState()

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 1236 of file gazebo_ros_api_plugin.cpp.

◆ getModelProperties()

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

Definition at line 1046 of file gazebo_ros_api_plugin.cpp.

◆ getModelState()

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

creates a header for the result

Author: Markus Bader marku.nosp@m.s.ba.nosp@m.der@t.nosp@m.uwie.nosp@m.n.ac..nosp@m.at

Date: 21th Nov 2014

this is a redundant information

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

Definition at line 937 of file gazebo_ros_api_plugin.cpp.

◆ getPhysicsProperties()

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 1464 of file gazebo_ros_api_plugin.cpp.

◆ getWorldProperties()

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

Definition at line 1112 of file gazebo_ros_api_plugin.cpp.

◆ isSDF()

bool gazebo::GazeboRosApiPlugin::isSDF ( std::string model_xml )

private

utility for checking if string is in SDF format

Definition at line 2068 of file gazebo_ros_api_plugin.cpp.

◆ isURDF()

bool gazebo::GazeboRosApiPlugin::isURDF ( std::string model_xml )

private

utility for checking if string is in URDF format

Definition at line 2058 of file gazebo_ros_api_plugin.cpp.

◆ Load()

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 120 of file gazebo_ros_api_plugin.cpp.

◆ loadGazeboRosApiPlugin()

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 172 of file gazebo_ros_api_plugin.cpp.

◆ onLinkStatesConnect()

void gazebo::GazeboRosApiPlugin::onLinkStatesConnect ( )

Callback for a subscriber connecting to LinkStates ros topic.

Definition at line 570 of file gazebo_ros_api_plugin.cpp.

◆ onLinkStatesDisconnect()

void gazebo::GazeboRosApiPlugin::onLinkStatesDisconnect ( )

Callback for a subscriber disconnecting from LinkStates ros topic.

Definition at line 607 of file gazebo_ros_api_plugin.cpp.

◆ onModelStatesConnect()

void gazebo::GazeboRosApiPlugin::onModelStatesConnect ( )

Callback for a subscriber connecting to ModelStates ros topic.

Definition at line 577 of file gazebo_ros_api_plugin.cpp.

◆ onModelStatesDisconnect()

void gazebo::GazeboRosApiPlugin::onModelStatesDisconnect ( )

Callback for a subscriber disconnecting from ModelStates ros topic.

Definition at line 618 of file gazebo_ros_api_plugin.cpp.

◆ onResponse()

void gazebo::GazeboRosApiPlugin::onResponse ( ConstResponsePtr & response )

private

Unused.

Definition at line 231 of file gazebo_ros_api_plugin.cpp.

◆ parsePose()

ignition::math::Pose3d gazebo::GazeboRosApiPlugin::parsePose ( const std::string & str )

private

convert xml to Pose

Definition at line 2476 of file gazebo_ros_api_plugin.cpp.

◆ parseVector3()

ignition::math::Vector3d gazebo::GazeboRosApiPlugin::parseVector3 ( const std::string & str )

private

convert xml to Pose

Definition at line 2509 of file gazebo_ros_api_plugin.cpp.

◆ pausePhysics()

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

Definition at line 1710 of file gazebo_ros_api_plugin.cpp.

◆ physicsReconfigureCallback()

void gazebo::GazeboRosApiPlugin::physicsReconfigureCallback	(	gazebo_ros::PhysicsConfig &	config,
		uint32_t	level
	)

private

Used for the dynamic reconfigure callback function template.

Definition at line 2277 of file gazebo_ros_api_plugin.cpp.

◆ physicsReconfigureThread()

void gazebo::GazeboRosApiPlugin::physicsReconfigureThread ( )

private

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

Definition at line 2350 of file gazebo_ros_api_plugin.cpp.

◆ publishLinkStates()

void gazebo::GazeboRosApiPlugin::publishLinkStates ( )

private

Definition at line 2176 of file gazebo_ros_api_plugin.cpp.

◆ publishModelStates()

void gazebo::GazeboRosApiPlugin::publishModelStates ( )

private

Definition at line 2233 of file gazebo_ros_api_plugin.cpp.

◆ publishSimTime()

void gazebo::GazeboRosApiPlugin::publishSimTime ( )

private

Callback to WorldUpdateBegin that publishes /clock. If pub_clock_frequency_ <= 0 (default behavior), it publishes every time step. Otherwise, it attempts to publish at that frequency in Hz.

Definition at line 2154 of file gazebo_ros_api_plugin.cpp.

◆ resetSimulation()

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

Definition at line 1698 of file gazebo_ros_api_plugin.cpp.

◆ resetWorld()

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

Definition at line 1704 of file gazebo_ros_api_plugin.cpp.

◆ setJointProperties()

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 1516 of file gazebo_ros_api_plugin.cpp.

◆ setLightProperties()

bool gazebo::GazeboRosApiPlugin::setLightProperties	(	gazebo_msgs::SetLightProperties::Request &	req,
		gazebo_msgs::SetLightProperties::Response &	res
	)

Definition at line 1350 of file gazebo_ros_api_plugin.cpp.

◆ setLinkProperties()

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

Definition at line 1387 of file gazebo_ros_api_plugin.cpp.

◆ setLinkState()

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 1827 of file gazebo_ros_api_plugin.cpp.

◆ setModelConfiguration()

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

Definition at line 1779 of file gazebo_ros_api_plugin.cpp.

◆ setModelState()

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 1568 of file gazebo_ros_api_plugin.cpp.

◆ setPhysicsProperties()

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 1417 of file gazebo_ros_api_plugin.cpp.

◆ shutdownSignal()

void gazebo::GazeboRosApiPlugin::shutdownSignal ( )

Detect if sig-int shutdown signal is recieved

Definition at line 114 of file gazebo_ros_api_plugin.cpp.

◆ spawnAndConform()

bool gazebo::GazeboRosApiPlugin::spawnAndConform	(	TiXmlDocument &	gazebo_model_xml,
		const 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 2636 of file gazebo_ros_api_plugin.cpp.

◆ spawnSDFModel()

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 708 of file gazebo_ros_api_plugin.cpp.

◆ spawnURDFModel()

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 629 of file gazebo_ros_api_plugin.cpp.

◆ stripXmlDeclaration()

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 2367 of file gazebo_ros_api_plugin.cpp.

◆ transformWrench()

void gazebo::GazeboRosApiPlugin::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
	)

private

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

Definition at line 1911 of file gazebo_ros_api_plugin.cpp.

◆ unpausePhysics()

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

Definition at line 1716 of file gazebo_ros_api_plugin.cpp.

◆ updateLinkState()

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

Definition at line 1903 of file gazebo_ros_api_plugin.cpp.

◆ updateModelState()

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

Definition at line 1648 of file gazebo_ros_api_plugin.cpp.

◆ updateSDFAttributes()

void gazebo::GazeboRosApiPlugin::updateSDFAttributes	(	TiXmlDocument &	gazebo_model_xml,
		const std::string &	model_name,
		const ignition::math::Vector3d &	initial_xyz,
		const ignition::math::Quaterniond &	initial_q
	)

private

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

Definition at line 2381 of file gazebo_ros_api_plugin.cpp.

◆ updateURDFModelPose()

void gazebo::GazeboRosApiPlugin::updateURDFModelPose	(	TiXmlDocument &	gazebo_model_xml,
		const ignition::math::Vector3d &	initial_xyz,
		const ignition::math::Quaterniond &	initial_q
	)

private

Update the model pose of the URDF file before sending to Gazebo.

Definition at line 2542 of file gazebo_ros_api_plugin.cpp.

◆ updateURDFName()

void gazebo::GazeboRosApiPlugin::updateURDFName	(	TiXmlDocument &	gazebo_model_xml,
		const std::string &	model_name
	)

private

Update the model name of the URDF file before sending to Gazebo.

Definition at line 2590 of file gazebo_ros_api_plugin.cpp.

◆ walkChildAddRobotNamespace()

void gazebo::GazeboRosApiPlugin::walkChildAddRobotNamespace ( TiXmlNode * model_xml )

private

Definition at line 2608 of file gazebo_ros_api_plugin.cpp.

◆ wrenchBodySchedulerSlot()

void gazebo::GazeboRosApiPlugin::wrenchBodySchedulerSlot ( )

private

Definition at line 2080 of file gazebo_ros_api_plugin.cpp.

Member Data Documentation

◆ access_count_get_model_state_

std::map<std::string, unsigned int> gazebo::GazeboRosApiPlugin::access_count_get_model_state_

private

index counters to count the accesses on models via GetModelState

Definition at line 439 of file gazebo_ros_api_plugin.h.

◆ apply_body_wrench_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::apply_body_wrench_service_

private

Definition at line 375 of file gazebo_ros_api_plugin.h.

◆ apply_joint_effort_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::apply_joint_effort_service_

private

Definition at line 378 of file gazebo_ros_api_plugin.h.

◆ async_ros_spin_

boost::shared_ptr<ros::AsyncSpinner> gazebo::GazeboRosApiPlugin::async_ros_spin_

private

Definition at line 397 of file gazebo_ros_api_plugin.h.

◆ clear_body_wrenches_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::clear_body_wrenches_service_

private

Definition at line 386 of file gazebo_ros_api_plugin.h.

◆ clear_joint_forces_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::clear_joint_forces_service_

private

Definition at line 385 of file gazebo_ros_api_plugin.h.

◆ delete_light_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::delete_light_service_

private

Definition at line 363 of file gazebo_ros_api_plugin.h.

◆ delete_model_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::delete_model_service_

private

Definition at line 362 of file gazebo_ros_api_plugin.h.

◆ enable_ros_network_

bool gazebo::GazeboRosApiPlugin::enable_ros_network_

private

enable the communication of gazebo information using ROS service/topics

Definition at line 442 of file gazebo_ros_api_plugin.h.

◆ factory_light_pub_

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::factory_light_pub_

private

Definition at line 342 of file gazebo_ros_api_plugin.h.

◆ factory_pub_

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::factory_pub_

private

Definition at line 341 of file gazebo_ros_api_plugin.h.

◆ force_joint_jobs_

std::vector<GazeboRosApiPlugin::ForceJointJob*> gazebo::GazeboRosApiPlugin::force_joint_jobs_

private

Definition at line 436 of file gazebo_ros_api_plugin.h.

◆ force_update_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::force_update_event_

private

Definition at line 354 of file gazebo_ros_api_plugin.h.

◆ gazebo_callback_queue_thread_

boost::shared_ptr<boost::thread> gazebo::GazeboRosApiPlugin::gazebo_callback_queue_thread_

private

Definition at line 350 of file gazebo_ros_api_plugin.h.

◆ gazebo_queue_

ros::CallbackQueue gazebo::GazeboRosApiPlugin::gazebo_queue_

private

Definition at line 349 of file gazebo_ros_api_plugin.h.

◆ gazebonode_

gazebo::transport::NodePtr gazebo::GazeboRosApiPlugin::gazebonode_

private

Definition at line 339 of file gazebo_ros_api_plugin.h.

◆ get_joint_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_joint_properties_service_

private

Definition at line 367 of file gazebo_ros_api_plugin.h.

◆ get_light_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_light_properties_service_

private

Definition at line 370 of file gazebo_ros_api_plugin.h.

◆ get_link_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_link_properties_service_

private

Definition at line 368 of file gazebo_ros_api_plugin.h.

◆ get_link_state_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_link_state_service_

private

Definition at line 369 of file gazebo_ros_api_plugin.h.

◆ get_model_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_model_properties_service_

private

Definition at line 365 of file gazebo_ros_api_plugin.h.

◆ get_model_state_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_model_state_service_

private

Definition at line 364 of file gazebo_ros_api_plugin.h.

◆ get_physics_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_physics_properties_service_

private

Definition at line 374 of file gazebo_ros_api_plugin.h.

◆ get_world_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_world_properties_service_

private

Definition at line 366 of file gazebo_ros_api_plugin.h.

◆ last_pub_clock_time_

gazebo::common::Time gazebo::GazeboRosApiPlugin::last_pub_clock_time_

private

Definition at line 409 of file gazebo_ros_api_plugin.h.

◆ light_modify_pub_

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::light_modify_pub_

private

Definition at line 343 of file gazebo_ros_api_plugin.h.

◆ load_gazebo_ros_api_plugin_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::load_gazebo_ros_api_plugin_event_

private

Definition at line 358 of file gazebo_ros_api_plugin.h.

◆ lock_

boost::mutex gazebo::GazeboRosApiPlugin::lock_

private

A mutex to lock access to fields that are used in ROS message callbacks.

Definition at line 412 of file gazebo_ros_api_plugin.h.

◆ nh_

boost::shared_ptr<ros::NodeHandle> gazebo::GazeboRosApiPlugin::nh_

private

Definition at line 348 of file gazebo_ros_api_plugin.h.

◆ pause_physics_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::pause_physics_service_

private

Definition at line 383 of file gazebo_ros_api_plugin.h.

◆ performance_metric_sub_

gazebo::transport::SubscriberPtr gazebo::GazeboRosApiPlugin::performance_metric_sub_

private

Definition at line 344 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_callback_

dynamic_reconfigure::Server<gazebo_ros::PhysicsConfig>::CallbackType gazebo::GazeboRosApiPlugin::physics_reconfigure_callback_

private

Definition at line 405 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_get_client_

ros::ServiceClient gazebo::GazeboRosApiPlugin::physics_reconfigure_get_client_

private

Definition at line 403 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_initialized_

bool gazebo::GazeboRosApiPlugin::physics_reconfigure_initialized_

private

Definition at line 401 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_set_client_

ros::ServiceClient gazebo::GazeboRosApiPlugin::physics_reconfigure_set_client_

private

Definition at line 402 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_srv_

boost::shared_ptr< dynamic_reconfigure::Server<gazebo_ros::PhysicsConfig> > gazebo::GazeboRosApiPlugin::physics_reconfigure_srv_

private

Definition at line 404 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_thread_

boost::shared_ptr<boost::thread> gazebo::GazeboRosApiPlugin::physics_reconfigure_thread_

private

Definition at line 400 of file gazebo_ros_api_plugin.h.

◆ plugin_loaded_

bool gazebo::GazeboRosApiPlugin::plugin_loaded_

private

Definition at line 331 of file gazebo_ros_api_plugin.h.

◆ pub_clock_

ros::Publisher gazebo::GazeboRosApiPlugin::pub_clock_

private

Definition at line 407 of file gazebo_ros_api_plugin.h.

◆ pub_clock_frequency_

int gazebo::GazeboRosApiPlugin::pub_clock_frequency_

private

Definition at line 408 of file gazebo_ros_api_plugin.h.

◆ pub_link_states_

ros::Publisher gazebo::GazeboRosApiPlugin::pub_link_states_

private

Definition at line 389 of file gazebo_ros_api_plugin.h.

◆ pub_link_states_connection_count_

int gazebo::GazeboRosApiPlugin::pub_link_states_connection_count_

private

Definition at line 392 of file gazebo_ros_api_plugin.h.

◆ pub_link_states_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::pub_link_states_event_

private

Definition at line 356 of file gazebo_ros_api_plugin.h.

◆ pub_model_states_

ros::Publisher gazebo::GazeboRosApiPlugin::pub_model_states_

private

Definition at line 390 of file gazebo_ros_api_plugin.h.

◆ pub_model_states_connection_count_

int gazebo::GazeboRosApiPlugin::pub_model_states_connection_count_

private

Definition at line 393 of file gazebo_ros_api_plugin.h.

◆ pub_model_states_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::pub_model_states_event_

private

Definition at line 357 of file gazebo_ros_api_plugin.h.

◆ pub_performance_metrics_

ros::Publisher gazebo::GazeboRosApiPlugin::pub_performance_metrics_

private

Definition at line 391 of file gazebo_ros_api_plugin.h.

◆ pub_performance_metrics_connection_count_

int gazebo::GazeboRosApiPlugin::pub_performance_metrics_connection_count_

private

Definition at line 394 of file gazebo_ros_api_plugin.h.

◆ request_pub_

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::request_pub_

private

Definition at line 345 of file gazebo_ros_api_plugin.h.

◆ reset_simulation_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::reset_simulation_service_

private

Definition at line 381 of file gazebo_ros_api_plugin.h.

◆ reset_world_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::reset_world_service_

private

Definition at line 382 of file gazebo_ros_api_plugin.h.

◆ response_sub_

gazebo::transport::SubscriberPtr gazebo::GazeboRosApiPlugin::response_sub_

private

Definition at line 346 of file gazebo_ros_api_plugin.h.

◆ robot_namespace_

std::string gazebo::GazeboRosApiPlugin::robot_namespace_

private

Definition at line 337 of file gazebo_ros_api_plugin.h.

◆ set_joint_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_joint_properties_service_

private

Definition at line 376 of file gazebo_ros_api_plugin.h.

◆ set_light_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_light_properties_service_

private

Definition at line 371 of file gazebo_ros_api_plugin.h.

◆ set_link_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_link_properties_service_

private

Definition at line 372 of file gazebo_ros_api_plugin.h.

◆ set_link_state_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_link_state_service_

private

Definition at line 380 of file gazebo_ros_api_plugin.h.

◆ set_link_state_topic_

ros::Subscriber gazebo::GazeboRosApiPlugin::set_link_state_topic_

private

Definition at line 387 of file gazebo_ros_api_plugin.h.

◆ set_model_configuration_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_model_configuration_service_

private

Definition at line 379 of file gazebo_ros_api_plugin.h.

◆ set_model_state_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_model_state_service_

private

Definition at line 377 of file gazebo_ros_api_plugin.h.

◆ set_model_state_topic_

ros::Subscriber gazebo::GazeboRosApiPlugin::set_model_state_topic_

private

Definition at line 388 of file gazebo_ros_api_plugin.h.

◆ set_physics_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_physics_properties_service_

private

Definition at line 373 of file gazebo_ros_api_plugin.h.

◆ sigint_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::sigint_event_

private

Definition at line 335 of file gazebo_ros_api_plugin.h.

◆ spawn_sdf_model_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::spawn_sdf_model_service_

private

Definition at line 360 of file gazebo_ros_api_plugin.h.

◆ spawn_urdf_model_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::spawn_urdf_model_service_

private

Definition at line 361 of file gazebo_ros_api_plugin.h.

◆ stat_sub_

gazebo::transport::SubscriberPtr gazebo::GazeboRosApiPlugin::stat_sub_

private

Definition at line 340 of file gazebo_ros_api_plugin.h.

◆ stop_

bool gazebo::GazeboRosApiPlugin::stop_

private

Definition at line 334 of file gazebo_ros_api_plugin.h.

◆ time_update_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::time_update_event_

private

Definition at line 355 of file gazebo_ros_api_plugin.h.

◆ unpause_physics_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::unpause_physics_service_

private

Definition at line 384 of file gazebo_ros_api_plugin.h.

◆ world_

gazebo::physics::WorldPtr gazebo::GazeboRosApiPlugin::world_

private

Definition at line 352 of file gazebo_ros_api_plugin.h.

◆ world_created_

bool gazebo::GazeboRosApiPlugin::world_created_

private

Definition at line 414 of file gazebo_ros_api_plugin.h.

◆ wrench_body_jobs_

std::vector<GazeboRosApiPlugin::WrenchBodyJob*> gazebo::GazeboRosApiPlugin::wrench_body_jobs_

private

Definition at line 435 of file gazebo_ros_api_plugin.h.

◆ wrench_update_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::wrench_update_event_

private

Definition at line 353 of file gazebo_ros_api_plugin.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GazeboRosApiPlugin()

◆ ~GazeboRosApiPlugin()

Member Function Documentation

◆ advertiseServices()

◆ applyBodyWrench()

◆ applyJointEffort()

◆ clearBodyWrenches() [1/2]

◆ clearBodyWrenches() [2/2]

◆ clearJointForces() [1/2]

◆ clearJointForces() [2/2]

◆ deleteLight()

◆ deleteModel()

◆ forceJointSchedulerSlot()

◆ gazeboQueueThread()

◆ getJointProperties()

◆ getLightProperties()

◆ getLinkProperties()

◆ getLinkState()

◆ getModelProperties()

◆ getModelState()

◆ getPhysicsProperties()

◆ getWorldProperties()

◆ isSDF()

◆ isURDF()

◆ Load()

◆ loadGazeboRosApiPlugin()

◆ onLinkStatesConnect()

◆ onLinkStatesDisconnect()

◆ onModelStatesConnect()

◆ onModelStatesDisconnect()

◆ onResponse()

◆ parsePose()

◆ parseVector3()

◆ pausePhysics()

◆ physicsReconfigureCallback()

◆ physicsReconfigureThread()

◆ publishLinkStates()

◆ publishModelStates()

◆ publishSimTime()

◆ resetSimulation()

◆ resetWorld()

◆ setJointProperties()

◆ setLightProperties()

◆ setLinkProperties()

◆ setLinkState()

◆ setModelConfiguration()

◆ setModelState()

◆ setPhysicsProperties()

◆ shutdownSignal()

◆ spawnAndConform()

◆ spawnSDFModel()

◆ spawnURDFModel()

◆ stripXmlDeclaration()

◆ transformWrench()

◆ unpausePhysics()

◆ updateLinkState()

◆ updateModelState()

◆ updateSDFAttributes()

◆ updateURDFModelPose()

◆ updateURDFName()

◆ walkChildAddRobotNamespace()

◆ wrenchBodySchedulerSlot()

Member Data Documentation

◆ access_count_get_model_state_

◆ apply_body_wrench_service_

◆ apply_joint_effort_service_

◆ async_ros_spin_

◆ clear_body_wrenches_service_

◆ clear_joint_forces_service_

◆ delete_light_service_

◆ delete_model_service_

◆ enable_ros_network_

◆ factory_light_pub_

◆ factory_pub_