Class Node

Defined in File node.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class Node : public rclcpp::Node

ROS Node for gazebo plugins.

Wrapper around an rclcpp::Node which ensures all instances share an executor.

Public Types

using SharedPtr = std::shared_ptr<Node>: Shared pointer to a gazebo_ros::Node.

Public Functions

virtual ~Node(): Destructor.

inline const gazebo_ros::QoS &get_qos() const &

inline gazebo_ros::QoS get_qos() &&

Public Static Functions

static SharedPtr Get()

Get a static node called “gazebo” which can be shared by several plugins.

This will call rclcpp::init if it hasn’t been called yet.

The node is created the first time this is called.

Returns:: A shared pointer to a gazebo_ros::Node

static SharedPtr Get(sdf::ElementPtr _sdf, std::string _node_name = "")

Get reference to a gazebo_ros::Node and add it to the global gazebo_ros::Executor.

This will create a new node; the node’s name will be the same as the name argument on the <plugin> tag.

This will call rclcpp::init if it hasn’t been called yet.

Sets node name, namespace, remappings, parameters, and quality of service from SDF. SDF is in the form:

<!-- Node name will be the same as the plugin name -->
<plugin name="my_node_name" filename="my_library.so">
  <!-- Optional configurations for a plugin's Node -->
  <ros>
   <!-- Namespace of the node -->
   <namespace>/my_ns</namespace>
   <!-- Command line arguments sent to Node's constructor for remappings -->
   <argument>__name:=super_cool_node</argument>
   <argument>__log_level:=debug</argument>
   <!-- Initial ROS params set for node -->
   <parameter name="max_velocity" type="int">55</parameter>
   <parameter name="publish_odom" type="bool">True</parameter>
   <!-- Remapping rules for node -->
   <remapping>my_topic:=new_topic</remapping>
   <!-- QoS for node publishers and subscriptions -->
   <qos>
     <!-- See #gazebo_ros::QoS -->
   </qos>
  </ros>
</plugin>

Parameters:

_sdf – [in] An SDF element in the style above or containing a <ros> tag in the style above
_node_name – [in] An optional node_name to overwrite plugin name being used as node name.

Returns:

A shared pointer to a new gazebo_ros::Node. A nullptr is returned and an error message is logged in case multiple nodes have the same name.

template<typename ...Args> static SharedPtr CreateWithArgs(Args&&... args)

Create a gazebo_ros::Node and add it to the global gazebo_ros::Executor.

This will call rclcpp::init if it hasn’t been called yet.

Forwards arguments to the constructor for rclcpp::Node

Parameters:: args – [in] List of arguments to pass to rclcpp::Node
Returns:: A shared pointer to a new gazebo_ros::Node

static rclcpp::Parameter sdf_to_ros_parameter(sdf::ElementPtr const &_sdf): Convert an sdf element to an rclcpp::Parameter.