Class GazeboSystem

Defined in File gazebo_system.hpp

Inheritance Relationships

Base Type

public gazebo_ros2_control::GazeboSystemInterface (Class GazeboSystemInterface)

Class Documentation

class GazeboSystem : public gazebo_ros2_control::GazeboSystemInterface 

Public Functions

CallbackReturn on_init(const hardware_interface::HardwareInfo &system_info) override

std::vector<hardware_interface::StateInterface> export_state_interfaces() override

std::vector<hardware_interface::CommandInterface> export_command_interfaces() override

CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override

hardware_interface::return_type perform_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override

hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override

hardware_interface::return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override

virtual bool initSim(rclcpp::Node::SharedPtr &model_nh, gazebo::physics::ModelPtr parent_model, const hardware_interface::HardwareInfo &hardware_info, sdf::ElementPtr sdf) override: Initialize the system interface param[in] model_nh pointer to the ros2 node param[in] parent_model pointer to the model param[in] control_hardware vector filled with information about robot’s control resources param[in] sdf pointer to the SDF.