Template Class GazeboMonitorBasePlugin
Defined in File gazebo_monitor_base_plugin.h
Inheritance Relationships
Base Type
public SensorPlugin
Class Documentation
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template<typename StartServiceT, typename StopServiceT>
class GazeboMonitorBasePlugin : public SensorPlugin Abstract base monitor class.
Hosts common monitor members, and partially initializes the monitor.
Note
Expects the following configuration:
setCameraService: name of the service for configuring a camera
savePath: path to which to save recordings
numberOfInitialAttachRetries (optional, defaults to 0): number of times to retry attaching the cameras during initialization
Public Types
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using ImageDataPtrVector = std::vector<sensors::GvmMulticameraSensor::ImageDataPtr>
Public Functions
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inline GazeboMonitorBasePlugin(const std::string &name)
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inline virtual ~GazeboMonitorBasePlugin() override
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inline virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) override
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inline virtual void Init() override
Protected Functions
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inline virtual void initRos()
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inline void initialize()
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inline RefModelConfigConstPtr getCameraRefConfig(const std::string &name) const
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virtual void onNewImages(const ImageDataPtrVector &images) = 0
Protected Attributes
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const std::string logger_prefix_
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sdf::ElementPtr sdf_
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physics::WorldPtr world_
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sensors::GvmMulticameraSensorPtr sensor_
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gazebo_ros::Node::SharedPtr ros_node_
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rclcpp::Service<StartServiceT>::SharedPtr start_recording_service_
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rclcpp::Service<StopServiceT>::SharedPtr stop_recording_service_
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boost::filesystem::path save_path_