Classes | Public Member Functions | Private Member Functions | Private Attributes | List of all members
gazebo::GazeboRosApiPlugin Class Reference

A plugin loaded within the gzserver on startup. More...

#include <gazebo_ros_api_plugin.h>

Inheritance diagram for gazebo::GazeboRosApiPlugin:
Inheritance graph
[legend]

Classes

class  ForceJointJob
 
class  WrenchBodyJob
 

Public Member Functions

void advertiseServices ()
 advertise services More...
 
bool applyBodyWrench (gazebo_msgs::ApplyBodyWrench::Request &req, gazebo_msgs::ApplyBodyWrench::Response &res)
 
bool applyJointEffort (gazebo_msgs::ApplyJointEffort::Request &req, gazebo_msgs::ApplyJointEffort::Response &res)
 
bool clearBodyWrenches (gazebo_msgs::BodyRequest::Request &req, gazebo_msgs::BodyRequest::Response &res)
 
bool clearBodyWrenches (std::string body_name)
 
bool clearJointForces (gazebo_msgs::JointRequest::Request &req, gazebo_msgs::JointRequest::Response &res)
 
bool clearJointForces (std::string joint_name)
 
bool deleteLight (gazebo_msgs::DeleteLight::Request &req, gazebo_msgs::DeleteLight::Response &res)
 delete a given light by name More...
 
bool deleteModel (gazebo_msgs::DeleteModel::Request &req, gazebo_msgs::DeleteModel::Response &res)
 delete model given name More...
 
void gazeboQueueThread ()
 ros queue thread for this node More...
 
 GazeboRosApiPlugin ()
 Constructor. More...
 
bool getJointProperties (gazebo_msgs::GetJointProperties::Request &req, gazebo_msgs::GetJointProperties::Response &res)
 
bool getLightProperties (gazebo_msgs::GetLightProperties::Request &req, gazebo_msgs::GetLightProperties::Response &res)
 
bool getLinkProperties (gazebo_msgs::GetLinkProperties::Request &req, gazebo_msgs::GetLinkProperties::Response &res)
 
bool getLinkState (gazebo_msgs::GetLinkState::Request &req, gazebo_msgs::GetLinkState::Response &res)
 
bool getModelProperties (gazebo_msgs::GetModelProperties::Request &req, gazebo_msgs::GetModelProperties::Response &res)
 
bool getModelState (gazebo_msgs::GetModelState::Request &req, gazebo_msgs::GetModelState::Response &res)
 
bool getPhysicsProperties (gazebo_msgs::GetPhysicsProperties::Request &req, gazebo_msgs::GetPhysicsProperties::Response &res)
 
bool getWorldProperties (gazebo_msgs::GetWorldProperties::Request &req, gazebo_msgs::GetWorldProperties::Response &res)
 
void Load (int argc, char **argv)
 Gazebo-inherited load function. More...
 
void onLinkStatesConnect ()
 Callback for a subscriber connecting to LinkStates ros topic. More...
 
void onLinkStatesDisconnect ()
 Callback for a subscriber disconnecting from LinkStates ros topic. More...
 
void onModelStatesConnect ()
 Callback for a subscriber connecting to ModelStates ros topic. More...
 
void onModelStatesDisconnect ()
 Callback for a subscriber disconnecting from ModelStates ros topic. More...
 
bool pausePhysics (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool resetSimulation (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool resetWorld (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
bool setJointProperties (gazebo_msgs::SetJointProperties::Request &req, gazebo_msgs::SetJointProperties::Response &res)
 
bool setLightProperties (gazebo_msgs::SetLightProperties::Request &req, gazebo_msgs::SetLightProperties::Response &res)
 
bool setLinkProperties (gazebo_msgs::SetLinkProperties::Request &req, gazebo_msgs::SetLinkProperties::Response &res)
 
bool setLinkState (gazebo_msgs::SetLinkState::Request &req, gazebo_msgs::SetLinkState::Response &res)
 
bool setModelConfiguration (gazebo_msgs::SetModelConfiguration::Request &req, gazebo_msgs::SetModelConfiguration::Response &res)
 
bool setModelState (gazebo_msgs::SetModelState::Request &req, gazebo_msgs::SetModelState::Response &res)
 
bool setPhysicsProperties (gazebo_msgs::SetPhysicsProperties::Request &req, gazebo_msgs::SetPhysicsProperties::Response &res)
 
void shutdownSignal ()
 Detect if sig-int shutdown signal is recieved More...
 
bool spawnSDFModel (gazebo_msgs::SpawnModel::Request &req, gazebo_msgs::SpawnModel::Response &res)
 Both SDFs and converted URDFs get sent to this function for further manipulation from a ROS Service call. More...
 
bool spawnURDFModel (gazebo_msgs::SpawnModel::Request &req, gazebo_msgs::SpawnModel::Response &res)
 Function for inserting a URDF into Gazebo from ROS Service Call. More...
 
bool unpausePhysics (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
 
void updateLinkState (const gazebo_msgs::LinkState::ConstPtr &link_state)
 
void updateModelState (const gazebo_msgs::ModelState::ConstPtr &model_state)
 
 ~GazeboRosApiPlugin ()
 Destructor. More...
 

Private Member Functions

void forceJointSchedulerSlot ()
 
bool isSDF (std::string model_xml)
 utility for checking if string is in SDF format More...
 
bool isURDF (std::string model_xml)
 utility for checking if string is in URDF format More...
 
void loadGazeboRosApiPlugin (std::string world_name)
 Connect to Gazebo via its plugin interface, get a pointer to the world, start events. More...
 
void onResponse (ConstResponsePtr &response)
 Unused. More...
 
ignition::math::Pose3d parsePose (const std::string &str)
 convert xml to Pose More...
 
ignition::math::Vector3d parseVector3 (const std::string &str)
 convert xml to Pose More...
 
void physicsReconfigureCallback (gazebo_ros::PhysicsConfig &config, uint32_t level)
 Used for the dynamic reconfigure callback function template. More...
 
void physicsReconfigureThread ()
 waits for the rest of Gazebo to be ready before initializing the dynamic reconfigure services More...
 
void publishLinkStates ()
 
void publishModelStates ()
 
void publishSimTime ()
 Callback to WorldUpdateBegin that publishes /clock. If pub_clock_frequency_ <= 0 (default behavior), it publishes every time step. Otherwise, it attempts to publish at that frequency in Hz. More...
 
bool spawnAndConform (TiXmlDocument &gazebo_model_xml, const std::string &model_name, gazebo_msgs::SpawnModel::Response &res)
 
void stripXmlDeclaration (std::string &model_xml)
 
void transformWrench (ignition::math::Vector3d &target_force, ignition::math::Vector3d &target_torque, const ignition::math::Vector3d &reference_force, const ignition::math::Vector3d &reference_torque, const ignition::math::Pose3d &target_to_reference)
 helper function for applyBodyWrench shift wrench from reference frame to target frame More...
 
void updateSDFAttributes (TiXmlDocument &gazebo_model_xml, const std::string &model_name, const ignition::math::Vector3d &initial_xyz, const ignition::math::Quaterniond &initial_q)
 Update the model name and pose of the SDF file before sending to Gazebo. More...
 
void updateURDFModelPose (TiXmlDocument &gazebo_model_xml, const ignition::math::Vector3d &initial_xyz, const ignition::math::Quaterniond &initial_q)
 Update the model pose of the URDF file before sending to Gazebo. More...
 
void updateURDFName (TiXmlDocument &gazebo_model_xml, const std::string &model_name)
 Update the model name of the URDF file before sending to Gazebo. More...
 
void walkChildAddRobotNamespace (TiXmlNode *model_xml)
 
void wrenchBodySchedulerSlot ()
 

Private Attributes

std::map< std::string, unsigned int > access_count_get_model_state_
 index counters to count the accesses on models via GetModelState More...
 
ros::ServiceServer apply_body_wrench_service_
 
ros::ServiceServer apply_joint_effort_service_
 
boost::shared_ptr< ros::AsyncSpinnerasync_ros_spin_
 
ros::ServiceServer clear_body_wrenches_service_
 
ros::ServiceServer clear_joint_forces_service_
 
ros::ServiceServer delete_light_service_
 
ros::ServiceServer delete_model_service_
 
bool enable_ros_network_
 enable the communication of gazebo information using ROS service/topics More...
 
gazebo::transport::PublisherPtr factory_light_pub_
 
gazebo::transport::PublisherPtr factory_pub_
 
std::vector< GazeboRosApiPlugin::ForceJointJob * > force_joint_jobs_
 
gazebo::event::ConnectionPtr force_update_event_
 
boost::shared_ptr< boost::thread > gazebo_callback_queue_thread_
 
ros::CallbackQueue gazebo_queue_
 
gazebo::transport::NodePtr gazebonode_
 
ros::ServiceServer get_joint_properties_service_
 
ros::ServiceServer get_light_properties_service_
 
ros::ServiceServer get_link_properties_service_
 
ros::ServiceServer get_link_state_service_
 
ros::ServiceServer get_model_properties_service_
 
ros::ServiceServer get_model_state_service_
 
ros::ServiceServer get_physics_properties_service_
 
ros::ServiceServer get_world_properties_service_
 
gazebo::common::Time last_pub_clock_time_
 
gazebo::transport::PublisherPtr light_modify_pub_
 
gazebo::event::ConnectionPtr load_gazebo_ros_api_plugin_event_
 
boost::mutex lock_
 A mutex to lock access to fields that are used in ROS message callbacks. More...
 
boost::shared_ptr< ros::NodeHandlenh_
 
ros::ServiceServer pause_physics_service_
 
gazebo::transport::SubscriberPtr performance_metric_sub_
 
dynamic_reconfigure::Server< gazebo_ros::PhysicsConfig >::CallbackType physics_reconfigure_callback_
 
ros::ServiceClient physics_reconfigure_get_client_
 
bool physics_reconfigure_initialized_
 
ros::ServiceClient physics_reconfigure_set_client_
 
boost::shared_ptr< dynamic_reconfigure::Server< gazebo_ros::PhysicsConfig > > physics_reconfigure_srv_
 
boost::shared_ptr< boost::thread > physics_reconfigure_thread_
 
bool plugin_loaded_
 
ros::Publisher pub_clock_
 
int pub_clock_frequency_
 
ros::Publisher pub_link_states_
 
int pub_link_states_connection_count_
 
gazebo::event::ConnectionPtr pub_link_states_event_
 
ros::Publisher pub_model_states_
 
int pub_model_states_connection_count_
 
gazebo::event::ConnectionPtr pub_model_states_event_
 
ros::Publisher pub_performance_metrics_
 
int pub_performance_metrics_connection_count_
 
gazebo::transport::PublisherPtr request_pub_
 
ros::ServiceServer reset_simulation_service_
 
ros::ServiceServer reset_world_service_
 
gazebo::transport::SubscriberPtr response_sub_
 
std::string robot_namespace_
 
ros::ServiceServer set_joint_properties_service_
 
ros::ServiceServer set_light_properties_service_
 
ros::ServiceServer set_link_properties_service_
 
ros::ServiceServer set_link_state_service_
 
ros::Subscriber set_link_state_topic_
 
ros::ServiceServer set_model_configuration_service_
 
ros::ServiceServer set_model_state_service_
 
ros::Subscriber set_model_state_topic_
 
ros::ServiceServer set_physics_properties_service_
 
gazebo::event::ConnectionPtr sigint_event_
 
ros::ServiceServer spawn_sdf_model_service_
 
ros::ServiceServer spawn_urdf_model_service_
 
gazebo::transport::SubscriberPtr stat_sub_
 
bool stop_
 
gazebo::event::ConnectionPtr time_update_event_
 
ros::ServiceServer unpause_physics_service_
 
gazebo::physics::WorldPtr world_
 
bool world_created_
 
std::vector< GazeboRosApiPlugin::WrenchBodyJob * > wrench_body_jobs_
 
gazebo::event::ConnectionPtr wrench_update_event_
 

Detailed Description

A plugin loaded within the gzserver on startup.

Definition at line 115 of file gazebo_ros_api_plugin.h.

Constructor & Destructor Documentation

◆ GazeboRosApiPlugin()

gazebo::GazeboRosApiPlugin::GazeboRosApiPlugin ( )

Constructor.

Definition at line 32 of file gazebo_ros_api_plugin.cpp.

◆ ~GazeboRosApiPlugin()

gazebo::GazeboRosApiPlugin::~GazeboRosApiPlugin ( )

Destructor.

Definition at line 46 of file gazebo_ros_api_plugin.cpp.

Member Function Documentation

◆ advertiseServices()

void gazebo::GazeboRosApiPlugin::advertiseServices ( )

advertise services

Definition at line 272 of file gazebo_ros_api_plugin.cpp.

◆ applyBodyWrench()

bool gazebo::GazeboRosApiPlugin::applyBodyWrench ( gazebo_msgs::ApplyBodyWrench::Request &  req,
gazebo_msgs::ApplyBodyWrench::Response &  res 
)

shift wrench to body frame if a non-zero reference point is given

Todo:
: to be more general, should we make the reference point a reference pose?
Todo:
: FIXME map is really wrong, need to use tf here somehow

Definition at line 1925 of file gazebo_ros_api_plugin.cpp.

◆ applyJointEffort()

bool gazebo::GazeboRosApiPlugin::applyJointEffort ( gazebo_msgs::ApplyJointEffort::Request &  req,
gazebo_msgs::ApplyJointEffort::Response &  res 
)

Definition at line 1656 of file gazebo_ros_api_plugin.cpp.

◆ clearBodyWrenches() [1/2]

bool gazebo::GazeboRosApiPlugin::clearBodyWrenches ( gazebo_msgs::BodyRequest::Request &  req,
gazebo_msgs::BodyRequest::Response &  res 
)

Definition at line 1750 of file gazebo_ros_api_plugin.cpp.

◆ clearBodyWrenches() [2/2]

bool gazebo::GazeboRosApiPlugin::clearBodyWrenches ( std::string  body_name)

Definition at line 1755 of file gazebo_ros_api_plugin.cpp.

◆ clearJointForces() [1/2]

bool gazebo::GazeboRosApiPlugin::clearJointForces ( gazebo_msgs::JointRequest::Request &  req,
gazebo_msgs::JointRequest::Response &  res 
)

Definition at line 1722 of file gazebo_ros_api_plugin.cpp.

◆ clearJointForces() [2/2]

bool gazebo::GazeboRosApiPlugin::clearJointForces ( std::string  joint_name)

Definition at line 1727 of file gazebo_ros_api_plugin.cpp.

◆ deleteLight()

bool gazebo::GazeboRosApiPlugin::deleteLight ( gazebo_msgs::DeleteLight::Request &  req,
gazebo_msgs::DeleteLight::Response &  res 
)

delete a given light by name

Definition at line 891 of file gazebo_ros_api_plugin.cpp.

◆ deleteModel()

bool gazebo::GazeboRosApiPlugin::deleteModel ( gazebo_msgs::DeleteModel::Request &  req,
gazebo_msgs::DeleteModel::Response &  res 
)

delete model given name

Definition at line 821 of file gazebo_ros_api_plugin.cpp.

◆ forceJointSchedulerSlot()

void gazebo::GazeboRosApiPlugin::forceJointSchedulerSlot ( )
private

Definition at line 2119 of file gazebo_ros_api_plugin.cpp.

◆ gazeboQueueThread()

void gazebo::GazeboRosApiPlugin::gazeboQueueThread ( )

ros queue thread for this node

Definition at line 263 of file gazebo_ros_api_plugin.cpp.

◆ getJointProperties()

bool gazebo::GazeboRosApiPlugin::getJointProperties ( gazebo_msgs::GetJointProperties::Request &  req,
gazebo_msgs::GetJointProperties::Response &  res 
)
Todo:
: FIXME

Definition at line 1132 of file gazebo_ros_api_plugin.cpp.

◆ getLightProperties()

bool gazebo::GazeboRosApiPlugin::getLightProperties ( gazebo_msgs::GetLightProperties::Request &  req,
gazebo_msgs::GetLightProperties::Response &  res 
)

Definition at line 1316 of file gazebo_ros_api_plugin.cpp.

◆ getLinkProperties()

bool gazebo::GazeboRosApiPlugin::getLinkProperties ( gazebo_msgs::GetLinkProperties::Request &  req,
gazebo_msgs::GetLinkProperties::Response &  res 
)
Todo:
: validate

Definition at line 1178 of file gazebo_ros_api_plugin.cpp.

◆ getLinkState()

bool gazebo::GazeboRosApiPlugin::getLinkState ( gazebo_msgs::GetLinkState::Request &  req,
gazebo_msgs::GetLinkState::Response &  res 
)
Todo:
: FIXME map is really wrong, need to use tf here somehow

Definition at line 1236 of file gazebo_ros_api_plugin.cpp.

◆ getModelProperties()

bool gazebo::GazeboRosApiPlugin::getModelProperties ( gazebo_msgs::GetModelProperties::Request &  req,
gazebo_msgs::GetModelProperties::Response &  res 
)

Definition at line 1046 of file gazebo_ros_api_plugin.cpp.

◆ getModelState()

bool gazebo::GazeboRosApiPlugin::getModelState ( gazebo_msgs::GetModelState::Request &  req,
gazebo_msgs::GetModelState::Response &  res 
)

creates a header for the result

Author
Markus Bader marku.nosp@m.s.ba.nosp@m.der@t.nosp@m.uwie.nosp@m.n.ac..nosp@m.at
Date
21th Nov 2014

this is a redundant information

Todo:
: FIXME map is really wrong, need to use tf here somehow

Definition at line 937 of file gazebo_ros_api_plugin.cpp.

◆ getPhysicsProperties()

bool gazebo::GazeboRosApiPlugin::getPhysicsProperties ( gazebo_msgs::GetPhysicsProperties::Request &  req,
gazebo_msgs::GetPhysicsProperties::Response &  res 
)

: add support for simbody, dart and bullet physics properties.

Definition at line 1464 of file gazebo_ros_api_plugin.cpp.

◆ getWorldProperties()

bool gazebo::GazeboRosApiPlugin::getWorldProperties ( gazebo_msgs::GetWorldProperties::Request &  req,
gazebo_msgs::GetWorldProperties::Response &  res 
)

Definition at line 1112 of file gazebo_ros_api_plugin.cpp.

◆ isSDF()

bool gazebo::GazeboRosApiPlugin::isSDF ( std::string  model_xml)
private

utility for checking if string is in SDF format

Definition at line 2068 of file gazebo_ros_api_plugin.cpp.

◆ isURDF()

bool gazebo::GazeboRosApiPlugin::isURDF ( std::string  model_xml)
private

utility for checking if string is in URDF format

Definition at line 2058 of file gazebo_ros_api_plugin.cpp.

◆ Load()

void gazebo::GazeboRosApiPlugin::Load ( int  argc,
char **  argv 
)

Gazebo-inherited load function.

Called before Gazebo is loaded. Must not block. Capitalized per Gazebo cpp style guidelines

Parameters
_argcNumber of command line arguments.
_argvArray of command line arguments.

setup custom callback queue

start a thread for the physics dynamic reconfigure node

Definition at line 120 of file gazebo_ros_api_plugin.cpp.

◆ loadGazeboRosApiPlugin()

void gazebo::GazeboRosApiPlugin::loadGazeboRosApiPlugin ( std::string  world_name)
private

Connect to Gazebo via its plugin interface, get a pointer to the world, start events.

advertise all services

Definition at line 172 of file gazebo_ros_api_plugin.cpp.

◆ onLinkStatesConnect()

void gazebo::GazeboRosApiPlugin::onLinkStatesConnect ( )

Callback for a subscriber connecting to LinkStates ros topic.

Definition at line 570 of file gazebo_ros_api_plugin.cpp.

◆ onLinkStatesDisconnect()

void gazebo::GazeboRosApiPlugin::onLinkStatesDisconnect ( )

Callback for a subscriber disconnecting from LinkStates ros topic.

Definition at line 607 of file gazebo_ros_api_plugin.cpp.

◆ onModelStatesConnect()

void gazebo::GazeboRosApiPlugin::onModelStatesConnect ( )

Callback for a subscriber connecting to ModelStates ros topic.

Definition at line 577 of file gazebo_ros_api_plugin.cpp.

◆ onModelStatesDisconnect()

void gazebo::GazeboRosApiPlugin::onModelStatesDisconnect ( )

Callback for a subscriber disconnecting from ModelStates ros topic.

Definition at line 618 of file gazebo_ros_api_plugin.cpp.

◆ onResponse()

void gazebo::GazeboRosApiPlugin::onResponse ( ConstResponsePtr &  response)
private

Unused.

Definition at line 231 of file gazebo_ros_api_plugin.cpp.

◆ parsePose()

ignition::math::Pose3d gazebo::GazeboRosApiPlugin::parsePose ( const std::string &  str)
private

convert xml to Pose

Definition at line 2476 of file gazebo_ros_api_plugin.cpp.

◆ parseVector3()

ignition::math::Vector3d gazebo::GazeboRosApiPlugin::parseVector3 ( const std::string &  str)
private

convert xml to Pose

Definition at line 2509 of file gazebo_ros_api_plugin.cpp.

◆ pausePhysics()

bool gazebo::GazeboRosApiPlugin::pausePhysics ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)

Definition at line 1710 of file gazebo_ros_api_plugin.cpp.

◆ physicsReconfigureCallback()

void gazebo::GazeboRosApiPlugin::physicsReconfigureCallback ( gazebo_ros::PhysicsConfig &  config,
uint32_t  level 
)
private

Used for the dynamic reconfigure callback function template.

Definition at line 2277 of file gazebo_ros_api_plugin.cpp.

◆ physicsReconfigureThread()

void gazebo::GazeboRosApiPlugin::physicsReconfigureThread ( )
private

waits for the rest of Gazebo to be ready before initializing the dynamic reconfigure services

Definition at line 2350 of file gazebo_ros_api_plugin.cpp.

◆ publishLinkStates()

void gazebo::GazeboRosApiPlugin::publishLinkStates ( )
private

Definition at line 2176 of file gazebo_ros_api_plugin.cpp.

◆ publishModelStates()

void gazebo::GazeboRosApiPlugin::publishModelStates ( )
private

Definition at line 2233 of file gazebo_ros_api_plugin.cpp.

◆ publishSimTime()

void gazebo::GazeboRosApiPlugin::publishSimTime ( )
private

Callback to WorldUpdateBegin that publishes /clock. If pub_clock_frequency_ <= 0 (default behavior), it publishes every time step. Otherwise, it attempts to publish at that frequency in Hz.

Definition at line 2154 of file gazebo_ros_api_plugin.cpp.

◆ resetSimulation()

bool gazebo::GazeboRosApiPlugin::resetSimulation ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)

Definition at line 1698 of file gazebo_ros_api_plugin.cpp.

◆ resetWorld()

bool gazebo::GazeboRosApiPlugin::resetWorld ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)

Definition at line 1704 of file gazebo_ros_api_plugin.cpp.

◆ setJointProperties()

bool gazebo::GazeboRosApiPlugin::setJointProperties ( gazebo_msgs::SetJointProperties::Request &  req,
gazebo_msgs::SetJointProperties::Response &  res 
)
Todo:
: current settings only allows for setting of 1DOF joints (e.g. HingeJoint and SliderJoint) correctly.

Definition at line 1516 of file gazebo_ros_api_plugin.cpp.

◆ setLightProperties()

bool gazebo::GazeboRosApiPlugin::setLightProperties ( gazebo_msgs::SetLightProperties::Request &  req,
gazebo_msgs::SetLightProperties::Response &  res 
)

Definition at line 1350 of file gazebo_ros_api_plugin.cpp.

◆ setLinkProperties()

bool gazebo::GazeboRosApiPlugin::setLinkProperties ( gazebo_msgs::SetLinkProperties::Request &  req,
gazebo_msgs::SetLinkProperties::Response &  res 
)

Definition at line 1387 of file gazebo_ros_api_plugin.cpp.

◆ setLinkState()

bool gazebo::GazeboRosApiPlugin::setLinkState ( gazebo_msgs::SetLinkState::Request &  req,
gazebo_msgs::SetLinkState::Response &  res 
)
Todo:
: FIXME map is really wrong, unless using tf here somehow

Definition at line 1827 of file gazebo_ros_api_plugin.cpp.

◆ setModelConfiguration()

bool gazebo::GazeboRosApiPlugin::setModelConfiguration ( gazebo_msgs::SetModelConfiguration::Request &  req,
gazebo_msgs::SetModelConfiguration::Response &  res 
)

Definition at line 1779 of file gazebo_ros_api_plugin.cpp.

◆ setModelState()

bool gazebo::GazeboRosApiPlugin::setModelState ( gazebo_msgs::SetModelState::Request &  req,
gazebo_msgs::SetModelState::Response &  res 
)
Todo:
: FIXME map is really wrong, need to use tf here somehow

Definition at line 1568 of file gazebo_ros_api_plugin.cpp.

◆ setPhysicsProperties()

bool gazebo::GazeboRosApiPlugin::setPhysicsProperties ( gazebo_msgs::SetPhysicsProperties::Request &  req,
gazebo_msgs::SetPhysicsProperties::Response &  res 
)

: add support for simbody, dart and bullet physics properties.

Definition at line 1417 of file gazebo_ros_api_plugin.cpp.

◆ shutdownSignal()

void gazebo::GazeboRosApiPlugin::shutdownSignal ( )

Detect if sig-int shutdown signal is recieved

Definition at line 114 of file gazebo_ros_api_plugin.cpp.

◆ spawnAndConform()

bool gazebo::GazeboRosApiPlugin::spawnAndConform ( TiXmlDocument &  gazebo_model_xml,
const std::string &  model_name,
gazebo_msgs::SpawnModel::Response &  res 
)
private

FIXME: should change publish to direct invocation World::LoadModel() and/or change the poll for Model existence to common::Events based check.

poll and wait, verify that the model is spawned within Hardcoded 10 seconds

Definition at line 2636 of file gazebo_ros_api_plugin.cpp.

◆ spawnSDFModel()

bool gazebo::GazeboRosApiPlugin::spawnSDFModel ( gazebo_msgs::SpawnModel::Request &  req,
gazebo_msgs::SpawnModel::Response &  res 
)

Both SDFs and converted URDFs get sent to this function for further manipulation from a ROS Service call.

Todo:
: map is really wrong, need to use tf here somehow

Definition at line 708 of file gazebo_ros_api_plugin.cpp.

◆ spawnURDFModel()

bool gazebo::GazeboRosApiPlugin::spawnURDFModel ( gazebo_msgs::SpawnModel::Request &  req,
gazebo_msgs::SpawnModel::Response &  res 
)

Function for inserting a URDF into Gazebo from ROS Service Call.

STRIP DECLARATION <? ... xml version="1.0" ... ?> from model_xml

Todo:
: does tinyxml have functionality for this?
Todo:
: should gazebo take care of the declaration?

Definition at line 629 of file gazebo_ros_api_plugin.cpp.

◆ stripXmlDeclaration()

void gazebo::GazeboRosApiPlugin::stripXmlDeclaration ( std::string &  model_xml)
private

STRIP DECLARATION <? ... xml version="1.0" ... ?> from model_xml

Todo:
: does tinyxml have functionality for this?
Todo:
: should gazebo take care of the declaration?

Definition at line 2367 of file gazebo_ros_api_plugin.cpp.

◆ transformWrench()

void gazebo::GazeboRosApiPlugin::transformWrench ( ignition::math::Vector3d &  target_force,
ignition::math::Vector3d &  target_torque,
const ignition::math::Vector3d &  reference_force,
const ignition::math::Vector3d &  reference_torque,
const ignition::math::Pose3d &  target_to_reference 
)
private

helper function for applyBodyWrench shift wrench from reference frame to target frame

Definition at line 1911 of file gazebo_ros_api_plugin.cpp.

◆ unpausePhysics()

bool gazebo::GazeboRosApiPlugin::unpausePhysics ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  res 
)

Definition at line 1716 of file gazebo_ros_api_plugin.cpp.

◆ updateLinkState()

void gazebo::GazeboRosApiPlugin::updateLinkState ( const gazebo_msgs::LinkState::ConstPtr &  link_state)

Definition at line 1903 of file gazebo_ros_api_plugin.cpp.

◆ updateModelState()

void gazebo::GazeboRosApiPlugin::updateModelState ( const gazebo_msgs::ModelState::ConstPtr &  model_state)

Definition at line 1648 of file gazebo_ros_api_plugin.cpp.

◆ updateSDFAttributes()

void gazebo::GazeboRosApiPlugin::updateSDFAttributes ( TiXmlDocument &  gazebo_model_xml,
const std::string &  model_name,
const ignition::math::Vector3d &  initial_xyz,
const ignition::math::Quaterniond &  initial_q 
)
private

Update the model name and pose of the SDF file before sending to Gazebo.

Definition at line 2381 of file gazebo_ros_api_plugin.cpp.

◆ updateURDFModelPose()

void gazebo::GazeboRosApiPlugin::updateURDFModelPose ( TiXmlDocument &  gazebo_model_xml,
const ignition::math::Vector3d &  initial_xyz,
const ignition::math::Quaterniond &  initial_q 
)
private

Update the model pose of the URDF file before sending to Gazebo.

Definition at line 2542 of file gazebo_ros_api_plugin.cpp.

◆ updateURDFName()

void gazebo::GazeboRosApiPlugin::updateURDFName ( TiXmlDocument &  gazebo_model_xml,
const std::string &  model_name 
)
private

Update the model name of the URDF file before sending to Gazebo.

Definition at line 2590 of file gazebo_ros_api_plugin.cpp.

◆ walkChildAddRobotNamespace()

void gazebo::GazeboRosApiPlugin::walkChildAddRobotNamespace ( TiXmlNode *  model_xml)
private

Definition at line 2608 of file gazebo_ros_api_plugin.cpp.

◆ wrenchBodySchedulerSlot()

void gazebo::GazeboRosApiPlugin::wrenchBodySchedulerSlot ( )
private

Definition at line 2080 of file gazebo_ros_api_plugin.cpp.

Member Data Documentation

◆ access_count_get_model_state_

std::map<std::string, unsigned int> gazebo::GazeboRosApiPlugin::access_count_get_model_state_
private

index counters to count the accesses on models via GetModelState

Definition at line 439 of file gazebo_ros_api_plugin.h.

◆ apply_body_wrench_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::apply_body_wrench_service_
private

Definition at line 375 of file gazebo_ros_api_plugin.h.

◆ apply_joint_effort_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::apply_joint_effort_service_
private

Definition at line 378 of file gazebo_ros_api_plugin.h.

◆ async_ros_spin_

boost::shared_ptr<ros::AsyncSpinner> gazebo::GazeboRosApiPlugin::async_ros_spin_
private

Definition at line 397 of file gazebo_ros_api_plugin.h.

◆ clear_body_wrenches_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::clear_body_wrenches_service_
private

Definition at line 386 of file gazebo_ros_api_plugin.h.

◆ clear_joint_forces_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::clear_joint_forces_service_
private

Definition at line 385 of file gazebo_ros_api_plugin.h.

◆ delete_light_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::delete_light_service_
private

Definition at line 363 of file gazebo_ros_api_plugin.h.

◆ delete_model_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::delete_model_service_
private

Definition at line 362 of file gazebo_ros_api_plugin.h.

◆ enable_ros_network_

bool gazebo::GazeboRosApiPlugin::enable_ros_network_
private

enable the communication of gazebo information using ROS service/topics

Definition at line 442 of file gazebo_ros_api_plugin.h.

◆ factory_light_pub_

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::factory_light_pub_
private

Definition at line 342 of file gazebo_ros_api_plugin.h.

◆ factory_pub_

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::factory_pub_
private

Definition at line 341 of file gazebo_ros_api_plugin.h.

◆ force_joint_jobs_

std::vector<GazeboRosApiPlugin::ForceJointJob*> gazebo::GazeboRosApiPlugin::force_joint_jobs_
private

Definition at line 436 of file gazebo_ros_api_plugin.h.

◆ force_update_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::force_update_event_
private

Definition at line 354 of file gazebo_ros_api_plugin.h.

◆ gazebo_callback_queue_thread_

boost::shared_ptr<boost::thread> gazebo::GazeboRosApiPlugin::gazebo_callback_queue_thread_
private

Definition at line 350 of file gazebo_ros_api_plugin.h.

◆ gazebo_queue_

ros::CallbackQueue gazebo::GazeboRosApiPlugin::gazebo_queue_
private

Definition at line 349 of file gazebo_ros_api_plugin.h.

◆ gazebonode_

gazebo::transport::NodePtr gazebo::GazeboRosApiPlugin::gazebonode_
private

Definition at line 339 of file gazebo_ros_api_plugin.h.

◆ get_joint_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_joint_properties_service_
private

Definition at line 367 of file gazebo_ros_api_plugin.h.

◆ get_light_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_light_properties_service_
private

Definition at line 370 of file gazebo_ros_api_plugin.h.

◆ get_link_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_link_properties_service_
private

Definition at line 368 of file gazebo_ros_api_plugin.h.

◆ get_link_state_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_link_state_service_
private

Definition at line 369 of file gazebo_ros_api_plugin.h.

◆ get_model_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_model_properties_service_
private

Definition at line 365 of file gazebo_ros_api_plugin.h.

◆ get_model_state_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_model_state_service_
private

Definition at line 364 of file gazebo_ros_api_plugin.h.

◆ get_physics_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_physics_properties_service_
private

Definition at line 374 of file gazebo_ros_api_plugin.h.

◆ get_world_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::get_world_properties_service_
private

Definition at line 366 of file gazebo_ros_api_plugin.h.

◆ last_pub_clock_time_

gazebo::common::Time gazebo::GazeboRosApiPlugin::last_pub_clock_time_
private

Definition at line 409 of file gazebo_ros_api_plugin.h.

◆ light_modify_pub_

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::light_modify_pub_
private

Definition at line 343 of file gazebo_ros_api_plugin.h.

◆ load_gazebo_ros_api_plugin_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::load_gazebo_ros_api_plugin_event_
private

Definition at line 358 of file gazebo_ros_api_plugin.h.

◆ lock_

boost::mutex gazebo::GazeboRosApiPlugin::lock_
private

A mutex to lock access to fields that are used in ROS message callbacks.

Definition at line 412 of file gazebo_ros_api_plugin.h.

◆ nh_

boost::shared_ptr<ros::NodeHandle> gazebo::GazeboRosApiPlugin::nh_
private

Definition at line 348 of file gazebo_ros_api_plugin.h.

◆ pause_physics_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::pause_physics_service_
private

Definition at line 383 of file gazebo_ros_api_plugin.h.

◆ performance_metric_sub_

gazebo::transport::SubscriberPtr gazebo::GazeboRosApiPlugin::performance_metric_sub_
private

Definition at line 344 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_callback_

dynamic_reconfigure::Server<gazebo_ros::PhysicsConfig>::CallbackType gazebo::GazeboRosApiPlugin::physics_reconfigure_callback_
private

Definition at line 405 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_get_client_

ros::ServiceClient gazebo::GazeboRosApiPlugin::physics_reconfigure_get_client_
private

Definition at line 403 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_initialized_

bool gazebo::GazeboRosApiPlugin::physics_reconfigure_initialized_
private

Definition at line 401 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_set_client_

ros::ServiceClient gazebo::GazeboRosApiPlugin::physics_reconfigure_set_client_
private

Definition at line 402 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_srv_

boost::shared_ptr< dynamic_reconfigure::Server<gazebo_ros::PhysicsConfig> > gazebo::GazeboRosApiPlugin::physics_reconfigure_srv_
private

Definition at line 404 of file gazebo_ros_api_plugin.h.

◆ physics_reconfigure_thread_

boost::shared_ptr<boost::thread> gazebo::GazeboRosApiPlugin::physics_reconfigure_thread_
private

Definition at line 400 of file gazebo_ros_api_plugin.h.

◆ plugin_loaded_

bool gazebo::GazeboRosApiPlugin::plugin_loaded_
private

Definition at line 331 of file gazebo_ros_api_plugin.h.

◆ pub_clock_

ros::Publisher gazebo::GazeboRosApiPlugin::pub_clock_
private

Definition at line 407 of file gazebo_ros_api_plugin.h.

◆ pub_clock_frequency_

int gazebo::GazeboRosApiPlugin::pub_clock_frequency_
private

Definition at line 408 of file gazebo_ros_api_plugin.h.

◆ pub_link_states_

ros::Publisher gazebo::GazeboRosApiPlugin::pub_link_states_
private

Definition at line 389 of file gazebo_ros_api_plugin.h.

◆ pub_link_states_connection_count_

int gazebo::GazeboRosApiPlugin::pub_link_states_connection_count_
private

Definition at line 392 of file gazebo_ros_api_plugin.h.

◆ pub_link_states_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::pub_link_states_event_
private

Definition at line 356 of file gazebo_ros_api_plugin.h.

◆ pub_model_states_

ros::Publisher gazebo::GazeboRosApiPlugin::pub_model_states_
private

Definition at line 390 of file gazebo_ros_api_plugin.h.

◆ pub_model_states_connection_count_

int gazebo::GazeboRosApiPlugin::pub_model_states_connection_count_
private

Definition at line 393 of file gazebo_ros_api_plugin.h.

◆ pub_model_states_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::pub_model_states_event_
private

Definition at line 357 of file gazebo_ros_api_plugin.h.

◆ pub_performance_metrics_

ros::Publisher gazebo::GazeboRosApiPlugin::pub_performance_metrics_
private

Definition at line 391 of file gazebo_ros_api_plugin.h.

◆ pub_performance_metrics_connection_count_

int gazebo::GazeboRosApiPlugin::pub_performance_metrics_connection_count_
private

Definition at line 394 of file gazebo_ros_api_plugin.h.

◆ request_pub_

gazebo::transport::PublisherPtr gazebo::GazeboRosApiPlugin::request_pub_
private

Definition at line 345 of file gazebo_ros_api_plugin.h.

◆ reset_simulation_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::reset_simulation_service_
private

Definition at line 381 of file gazebo_ros_api_plugin.h.

◆ reset_world_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::reset_world_service_
private

Definition at line 382 of file gazebo_ros_api_plugin.h.

◆ response_sub_

gazebo::transport::SubscriberPtr gazebo::GazeboRosApiPlugin::response_sub_
private

Definition at line 346 of file gazebo_ros_api_plugin.h.

◆ robot_namespace_

std::string gazebo::GazeboRosApiPlugin::robot_namespace_
private

Definition at line 337 of file gazebo_ros_api_plugin.h.

◆ set_joint_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_joint_properties_service_
private

Definition at line 376 of file gazebo_ros_api_plugin.h.

◆ set_light_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_light_properties_service_
private

Definition at line 371 of file gazebo_ros_api_plugin.h.

◆ set_link_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_link_properties_service_
private

Definition at line 372 of file gazebo_ros_api_plugin.h.

◆ set_link_state_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_link_state_service_
private

Definition at line 380 of file gazebo_ros_api_plugin.h.

◆ set_link_state_topic_

ros::Subscriber gazebo::GazeboRosApiPlugin::set_link_state_topic_
private

Definition at line 387 of file gazebo_ros_api_plugin.h.

◆ set_model_configuration_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_model_configuration_service_
private

Definition at line 379 of file gazebo_ros_api_plugin.h.

◆ set_model_state_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_model_state_service_
private

Definition at line 377 of file gazebo_ros_api_plugin.h.

◆ set_model_state_topic_

ros::Subscriber gazebo::GazeboRosApiPlugin::set_model_state_topic_
private

Definition at line 388 of file gazebo_ros_api_plugin.h.

◆ set_physics_properties_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::set_physics_properties_service_
private

Definition at line 373 of file gazebo_ros_api_plugin.h.

◆ sigint_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::sigint_event_
private

Definition at line 335 of file gazebo_ros_api_plugin.h.

◆ spawn_sdf_model_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::spawn_sdf_model_service_
private

Definition at line 360 of file gazebo_ros_api_plugin.h.

◆ spawn_urdf_model_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::spawn_urdf_model_service_
private

Definition at line 361 of file gazebo_ros_api_plugin.h.

◆ stat_sub_

gazebo::transport::SubscriberPtr gazebo::GazeboRosApiPlugin::stat_sub_
private

Definition at line 340 of file gazebo_ros_api_plugin.h.

◆ stop_

bool gazebo::GazeboRosApiPlugin::stop_
private

Definition at line 334 of file gazebo_ros_api_plugin.h.

◆ time_update_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::time_update_event_
private

Definition at line 355 of file gazebo_ros_api_plugin.h.

◆ unpause_physics_service_

ros::ServiceServer gazebo::GazeboRosApiPlugin::unpause_physics_service_
private

Definition at line 384 of file gazebo_ros_api_plugin.h.

◆ world_

gazebo::physics::WorldPtr gazebo::GazeboRosApiPlugin::world_
private

Definition at line 352 of file gazebo_ros_api_plugin.h.

◆ world_created_

bool gazebo::GazeboRosApiPlugin::world_created_
private

Definition at line 414 of file gazebo_ros_api_plugin.h.

◆ wrench_body_jobs_

std::vector<GazeboRosApiPlugin::WrenchBodyJob*> gazebo::GazeboRosApiPlugin::wrench_body_jobs_
private

Definition at line 435 of file gazebo_ros_api_plugin.h.

◆ wrench_update_event_

gazebo::event::ConnectionPtr gazebo::GazeboRosApiPlugin::wrench_update_event_
private

Definition at line 353 of file gazebo_ros_api_plugin.h.


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


gazebo_ros
Author(s): John Hsu, Nate Koenig, Dave Coleman
autogenerated on Wed Aug 24 2022 02:47:50