Class GazeboVideoMonitorPlugin
Defined in File gazebo_video_monitor_plugin.h
Inheritance Relationships
Base Type
public gazebo::GazeboMonitorBasePlugin< gazebo_video_monitor_interfaces::srv::StartGvmRecording, gazebo_video_monitor_interfaces::srv::StopRecording >
(Template Class GazeboMonitorBasePlugin)
Class Documentation
-
class GazeboVideoMonitorPlugin : public gazebo::GazeboMonitorBasePlugin<gazebo_video_monitor_interfaces::srv::StartGvmRecording, gazebo_video_monitor_interfaces::srv::StopRecording>
Provides a ROS interface for creating videos that are useful for capturing the operation of a robot.
Creates videos that present two views of the gazebo world: one stationary (world) view, and one view that is attached to a (robot) model. Additional metadata are shown in the video, like real time, sim time, and elapsed real time since the start of the recording.
Note
The parent sensor should hold two cameras with the names world_camera and robot_camera. By default, world_camera is attached to the parent link of the sensor. robot_camera is user-configurable.
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: reference model configuration with a name attribute pointing to the robot camera (see parseRefModelConfig)