Class GazeboMultiVideoMonitorPlugin

Inheritance Relationships

Base Type

Class Documentation

class GazeboMultiVideoMonitorPlugin : public gazebo::GazeboMonitorBasePlugin<std_srvs::srv::Empty, gazebo_video_monitor_interfaces::srv::StopRecording>

Provides a ROS interface for creating multiple videos from different cameras, all recording in the same time period.

Reads the n cameras managed by the parent sensor, records n videos, and saves the videos under a group directory. Metadata can be shown in the videos, like real time, sim time, and elapsed real time since the start of the recording.

Note

The parent sensor can hold an arbitrary number of cameras. The pose of the cameras in their configuration can be wrt the sensor parent, or any other model in the world. In the latter case, these models need to be specified in the plugin configuration.

Expects the following configuration (extends the configuration of

GazeboMonitorBasePlugin):
  • startRecordingService: name of the service for starting a recording

  • stopRecordingService: name of the service for stopping and saving a recording

  • recorder: configuration of the video recorder (see GazeboVideoRecorder)

  • cameraReference ([1-n] times): reference model configuration with a name attribute pointing to one of the sensor cameras (see parseRefModelConfig)

Public Functions

GazeboMultiVideoMonitorPlugin()
virtual ~GazeboMultiVideoMonitorPlugin() override
virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) override
virtual void Reset() override