Function parseRefModelConfig(const sdf::ElementPtr&, const rclcpp::Node::SharedPtr&)

Function Documentation

static RefModelConfigConstPtr parseRefModelConfig(const sdf::ElementPtr &sdf, const rclcpp::Node::SharedPtr &node)

Parses a reference model configuration.

Note

Expects the following configuration:

  • modelParam: name of the parameter on the parameter server that holds the name of the model with which to associate the camera

  • model: name of the model with which to associate the camera. It’s ignored if modelParam is given

  • link (optional, defaults to ‘link’): name of the link to which to attach the camera