gazebo::GazeboPluginLoader Class Reference

#include <GazeboPluginLoader.h>

List of all members.

Public Member Functions
	GazeboPluginLoader ()
void	Load (int argc, char **argv)
Private Member Functions
void	onWorldCreate ()
Private Attributes
event::ConnectionPtr	update_connection

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Detailed Description

System plugin which can be used to load World plugins dynamically, without the need of having to put them in the Gazebo world file.

The plugins to be loaded can be specified in a YAML file, which needs to be loaded onto the parameter server under **namespace gazebo_state_plugins**, as follows:

``` world_name: "default" world_plugins:

• name: gazebo_object_info file: libgazebo_object_info.so
• name: gazebo_map_publisher file: libgazebo_map_publisher.so ```

**Usage:**

This plugin is a system plugin which has to be loaded together with gazebo, e.g.:

``gzserver -s libgazebo_world_plugin_loader.so``

**Limitation:**

The method *WorldPlugin::Load(physics::WorldPtr, sdf::ElementPtr)* on the plugins will be called with a NULL sdf::ElementPtr. So the plugins should alternatively support reading their parameters from the ROS parameter server.

Author:

Jennifer Buehler

Definition at line 46 of file GazeboPluginLoader.h.

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Constructor & Destructor Documentation

GazeboPluginLoader::GazeboPluginLoader

(

)

Definition at line 10 of file GazeboPluginLoader.cpp.

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Member Function Documentation

void GazeboPluginLoader::Load	(	int	argc,
		char **	argv
	)

Definition at line 16 of file GazeboPluginLoader.cpp.

void GazeboPluginLoader::onWorldCreate

(

)

[private]

Definition at line 19 of file GazeboPluginLoader.cpp.

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Member Data Documentation

event::ConnectionPtr gazebo::GazeboPluginLoader::update_connection [private]

Definition at line 55 of file GazeboPluginLoader.h.

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The documentation for this class was generated from the following files:

• GazeboPluginLoader.h
• GazeboPluginLoader.cpp