Class GazeboRosJointStatePublisher

Defined in File gazebo_ros_joint_state_publisher.hpp

Inheritance Relationships

Base Type

public gazebo::ModelPlugin

Class Documentation

class GazeboRosJointStatePublisher : public gazebo::ModelPlugin

Publish the state of joints in simulation to a given ROS topic.

If the joint contains more than one axis, only the state of the first axis is reported.

Example Usage:

<plugin name="gazebo_ros_joint_state_publisher"
    filename="libgazebo_ros_joint_state_publisher.so">

  <ros>

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

    <!-- Remap the default topic -->
    <remapping>joint_states:=my_joint_states</remapping>

  </ros>

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

  <!-- Name of joints in the model whose states will be published. -->
  <joint_name>left_wheel</joint_name>
  <joint_name>right_wheel</joint_name>
  <joint_name>elbow</joint_name>
  <joint_name>shoulder</joint_name>

</plugin>

Public Functions

GazeboRosJointStatePublisher(): Constructor.

~GazeboRosJointStatePublisher(): Destructor.

Protected Functions

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