Class GazeboRosPlanarMove

Inheritance Relationships

Base Type

  • public gazebo::ModelPlugin

Class Documentation

class GazeboRosPlanarMove : public gazebo::ModelPlugin

Simple model controller that uses a twist message to move an entity on the xy plane.

Example Usage: 

<plugin name="gazebo_ros_planar_move" filename="libgazebo_ros_planar_move.so">

  <ros>

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

    <!-- Remap the default topic -->
    <remapping>cmd_vel:=custom_cmd_vel</remapping>
    <remapping>odom:=custom_odom</remapping>

  </ros>

  <update_rate>100</update_rate>
  <publish_rate>10</publish_rate>

  <!-- output -->
  <publish_odom>true</publish_odom>
  <publish_odom_tf>true</publish_odom_tf>

  <odometry_frame>odom_demo</odometry_frame>
  <robot_base_frame>link</robot_base_frame>

  <covariance_x>0.0001</covariance_x>
  <covariance_y>0.0001</covariance_y>
  <covariance_yaw>0.01</covariance_yaw>

</plugin>

Public Functions

GazeboRosPlanarMove()

Constructor.

~GazeboRosPlanarMove()

Destructor.

Protected Functions

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