gazebo::GazeboVideoMonitorPlugin Class Reference

Provides a ROS interface for creating videos that are useful for capturing the operation of a robot. More...

#include <gazebo_video_monitor_plugin.h>

Inheritance diagram for gazebo::GazeboVideoMonitorPlugin:

Public Member Functions
	GazeboVideoMonitorPlugin ()
virtual void	Load (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) override
virtual void	Reset () override
virtual	~GazeboVideoMonitorPlugin () override
Public Member Functions inherited from gazebo::GazeboMonitorBasePlugin
	GazeboMonitorBasePlugin (const std::string &name)
virtual void	Init () override
virtual	~GazeboMonitorBasePlugin () override

Private Member Functions
virtual void	initRos () override
virtual void	onNewImages (const ImageDataPtrVector &images) override
bool	startRecordingServiceCallback (gazebo_video_monitor_msgs::StartGvmRecordingRequest &req, gazebo_video_monitor_msgs::StartGvmRecordingResponse &res)
std::string	stopRecording (bool discard, std::string filename="")
bool	stopRecordingServiceCallback (gazebo_video_monitor_msgs::StopRecordingRequest &req, gazebo_video_monitor_msgs::StopRecordingResponse &res)

Private Attributes
const std::vector< std::string >	camera_names_
bool	disable_window_
GazeboVideoRecorderPtr	recorder_
std::mutex	recorder_mutex_
bool	world_as_main_view_

Additional Inherited Members
Public Types inherited from gazebo::GazeboMonitorBasePlugin
using	ImageDataPtrVector = std::vector< sensors::GvmMulticameraSensor::ImageDataPtr >
Protected Member Functions inherited from gazebo::GazeboMonitorBasePlugin
RefModelConfigConstPtr	getCameraRefConfig (const std::string &name) const
void	initialize ()
Protected Attributes inherited from gazebo::GazeboMonitorBasePlugin
const std::string	logger_prefix_
ros::NodeHandlePtr	nh_
boost::filesystem::path	save_path_
sdf::ElementPtr	sdf_
sensors::GvmMulticameraSensorPtr	sensor_
ros::ServiceServer	start_recording_service_
ros::ServiceServer	stop_recording_service_
physics::WorldPtr	world_

Detailed Description

Provides a ROS interface for creating videos that are useful for capturing the operation of a robot.

Creates videos that present two views of the gazebo world: one stationary (world) view, and one view that is attached to a (robot) model. Additional metadata are shown in the video, like real time, sim time, and elapsed real time since the start of the recording.

Note

The parent sensor should hold two cameras with the names world_camera and robot_camera. By default, world_camera is attached to the parent link of the sensor. robot_camera is user-configurable.
Expects the following configuration (extends the configuration of GazeboMonitorBasePlugin):

• startRecordingService: name of the service for starting a recording
• stopRecordingService: name of the service for stopping and saving a recording
• recorder: configuration of the video recorder (see GazeboVideoRecorder)
• cameraReference: reference model configuration with a name attribute pointing to the robot camera (see parseRefModelConfig)

Definition at line 55 of file gazebo_video_monitor_plugin.h.

Constructor & Destructor Documentation

GazeboVideoMonitorPlugin()

gazebo::GazeboVideoMonitorPlugin::GazeboVideoMonitorPlugin

(

)

Definition at line 25 of file gazebo_video_monitor_plugin.cpp.

~GazeboVideoMonitorPlugin()

gazebo::GazeboVideoMonitorPlugin::~GazeboVideoMonitorPlugin ( )

overridevirtual

Definition at line 29 of file gazebo_video_monitor_plugin.cpp.

Member Function Documentation

initRos()

void gazebo::GazeboVideoMonitorPlugin::initRos ( )

overrideprivatevirtual

Reimplemented from gazebo::GazeboMonitorBasePlugin.

Definition at line 59 of file gazebo_video_monitor_plugin.cpp.

Load()

void gazebo::GazeboVideoMonitorPlugin::Load ( sensors::SensorPtr  _sensor, sdf::ElementPtr  _sdf  )

overridevirtual

Reimplemented from gazebo::GazeboMonitorBasePlugin.

Definition at line 31 of file gazebo_video_monitor_plugin.cpp.

onNewImages()

void gazebo::GazeboVideoMonitorPlugin::onNewImages ( const ImageDataPtrVector &  images )

overrideprivatevirtual

Implements gazebo::GazeboMonitorBasePlugin.

Definition at line 81 of file gazebo_video_monitor_plugin.cpp.

Reset()

void gazebo::GazeboVideoMonitorPlugin::Reset ( )

overridevirtual

Definition at line 54 of file gazebo_video_monitor_plugin.cpp.

startRecordingServiceCallback()

bool gazebo::GazeboVideoMonitorPlugin::startRecordingServiceCallback ( gazebo_video_monitor_msgs::StartGvmRecordingRequest &  req, gazebo_video_monitor_msgs::StartGvmRecordingResponse &  res  )

private

Definition at line 97 of file gazebo_video_monitor_plugin.cpp.

stopRecording()

std::string gazebo::GazeboVideoMonitorPlugin::stopRecording ( bool  discard, std::string  filename = ""  )

private

Definition at line 91 of file gazebo_video_monitor_plugin.cpp.

stopRecordingServiceCallback()

bool gazebo::GazeboVideoMonitorPlugin::stopRecordingServiceCallback ( gazebo_video_monitor_msgs::StopRecordingRequest &  req, gazebo_video_monitor_msgs::StopRecordingResponse &  res  )

private

Definition at line 121 of file gazebo_video_monitor_plugin.cpp.

Member Data Documentation

camera_names_

const std::vector<std::string> gazebo::GazeboVideoMonitorPlugin::camera_names_

private

Definition at line 73 of file gazebo_video_monitor_plugin.h.

disable_window_

bool gazebo::GazeboVideoMonitorPlugin::disable_window_

private

Definition at line 77 of file gazebo_video_monitor_plugin.h.

recorder_

GazeboVideoRecorderPtr gazebo::GazeboVideoMonitorPlugin::recorder_

private

Definition at line 75 of file gazebo_video_monitor_plugin.h.

recorder_mutex_

std::mutex gazebo::GazeboVideoMonitorPlugin::recorder_mutex_

private

Definition at line 76 of file gazebo_video_monitor_plugin.h.

world_as_main_view_

bool gazebo::GazeboVideoMonitorPlugin::world_as_main_view_

private

Definition at line 78 of file gazebo_video_monitor_plugin.h.

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

• gazebo_video_monitor_plugin.h
• gazebo_video_monitor_plugin.cpp