Class GazeboRosJointPoseTrajectory

Defined in File gazebo_ros_joint_pose_trajectory.hpp

Inheritance Relationships

Base Type

public gazebo::ModelPlugin

Class Documentation

class GazeboRosJointPoseTrajectory : public gazebo::ModelPlugin

Set the trajectory of points to be followed by joints in simulation. Currently only positions specified in the trajectory_msgs are handled. Example Usage:

<plugin name="gazebo_ros_joint_pose_trajectory"
    filename="libgazebo_ros_joint_pose_trajectory.so">

  <ros>

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

    <!-- Remap the default topic -->
    <remapping>set_joint_trajectory:=my_trajectory</remapping>

  </ros>

  <!-- Update rate in Hz -->
  <update_rate>2</update_rate>

</plugin>

Public Functions

GazeboRosJointPoseTrajectory(): Constructor.

~GazeboRosJointPoseTrajectory(): Destructor.

Protected Functions

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