Class GazeboRosHandOfGod

Defined in File gazebo_ros_hand_of_god.hpp

Inheritance Relationships

Base Type

public gazebo::ModelPlugin

Class Documentation

class GazeboRosHandOfGod : public gazebo::ModelPlugin

Drives a floating object around based on the location of a TF frame. It is useful for connecting human input Example Usage:

<plugin name="gazebo_ros_hand_of_god" filename="libgazebo_ros_hand_of_god.so">

  <ros>

    <!-- Add a namespace -->
    <namespace>/demo</namespace>

  </ros>

  <!-- This is required -->
  <link_name>link</link_name>

  <!-- Defaults to world -->
  <!-- The plugin expects TF `frame_id` + "_desired" and broadcasts `frame_id` + "_actual" -->
  <frame_id>link</frame_id>

  <!-- Set force and torque gains -->
  <ka>200</ka>
  <kl>200</kl>

</plugin>

Public Functions

GazeboRosHandOfGod(): Constructor.

~GazeboRosHandOfGod(): Destructor.

Protected Functions

void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override