Class GazeboRosVacuumGripper

• Defined in File gazebo_ros_vacuum_gripper.hpp

Inheritance Relationships

Base Type

• public gazebo::ModelPlugin

Class Documentation

class GazeboRosVacuumGripper : public gazebo::ModelPlugin

Vacuum Gripper plugin for attracting entities around the model like vacuum.

Example Usage:

<plugin name='vacuum_gripper' filename='libgazebo_ros_vacuum_gripper.so'>

  <ros>

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

    <!-- Remapping service and topic names -->
    <remapping>switch:=custom_switch</remapping>
    <remapping>grasping:=custom_grasping</remapping>
  </ros>

  <!-- Link associated with gripper -->
  <link_name>link</link_name>

  <!-- Max distance to attract entities -->
  <max_distance>10.0</max_distance>

  <!-- List of entities to be not attracted by the gripper -->
  <fixed>ground_plane</fixed>
  <fixed>wall</fixed>

</plugin>

Public Functions

GazeboRosVacuumGripper()

Constructor.

~GazeboRosVacuumGripper()

Destructor.

Protected Functions

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