Class GazeboVideoMonitorPlugin

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)

Public Functions

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