WorldUtils.hh File Reference

World Utils plugin. More...

#include <gazebo/common/Events.hh>
#include "gazebo/common/Plugin.hh"
#include <gazebo/msgs/msgs.hh>
#include "gazebo/physics/physics.hh"
#include <gazebo/transport/transport.hh>
#include <mutex>
#include <iostream>
#include <iomanip>
#include <sstream>
#include <list>
#include <string>
#include <regex>
#include <boost/algorithm/string/predicate.hpp>
#include <boost/lexical_cast.hpp>
#include "world_utils_request.pb.h"
#include "world_utils_response.pb.h"
#include "MoveObject.hh"

Go to the source code of this file.

Classes
class	WorldUtils
	A custom gazebo plugin that provides an interface to programatically interact with the World object. More...

Namespaces
	WorldUtils
	gazebo

Macros
#define	REQUEST_TOPIC   "~/gap/world_utils"
	Topic monitored for incoming commands. More...
#define	RESPONSE_TOPIC   "~/gap/world_utils/response"
	Topic for publishing replies. More...
#define	SPAWN   gap::msgs::WorldUtilsRequest::SPAWN
	Spawn entity. More...
#define	MOVE   gap::msgs::WorldUtilsRequest::MOVE
	Move entity. More...
#define	REMOVE   gap::msgs::WorldUtilsRequest::REMOVE
	Remove entity from the world. More...
#define	PHYSICS   gap::msgs::WorldUtilsRequest::PHYSICS
	Start or stop physcis simulation. More...
#define	PAUSE   gap::msgs::WorldUtilsRequest::PAUSE
	Pause or resume simulation. More...
#define	STATUS   gap::msgs::WorldUtilsRequest::STATUS
	Get entity or world information. More...
#define	SPHERE   gap::msgs::Object::SPHERE
	Spawn sphere object. More...
#define	CYLINDER   gap::msgs::Object::CYLINDER
	Spawn cylinder object. More...
#define	BOX   gap::msgs::Object::BOX
	Spawn box object. More...
#define	CUSTOM   gap::msgs::Object::CUSTOM
	Spawn custom object. More...
#define	CUSTOM_LIGHT   gap::msgs::Object::CUSTOM_LIGHT
	Spawn custom light object. More...
#define	MODEL   gap::msgs::Object::MODEL
	Spawn a model included in gazebo model path. More...
#define	INFO   gap::msgs::WorldUtilsResponse::INFO
	Provide world state information. More...
#define	SUCCESS   gap::msgs::WorldUtilsResponse::SUCCESS
	TODO. More...

Typedefs
typedef const boost::shared_ptr< const gap::msgs::WorldUtilsRequest >	WorldUtilsRequestPtr
	Shared pointer declaration for request message type. More...
typedef const boost::shared_ptr< const gap::msgs::WorldUtilsResponse >	WorldUtilsResponsePtr
	Shared pointer declaration for response message type. More...

Detailed Description

World Utils plugin.

A custom gazebo plugin that provides an interface to programatically interact with the World object.

Author

João Borrego : jsbruglie

Rui Figueiredo : ruipimentelfigueiredo

Macro Definition Documentation

#define BOX   gap::msgs::Object::BOX

Spawn box object.

#define CUSTOM   gap::msgs::Object::CUSTOM

Spawn custom object.

#define CUSTOM_LIGHT   gap::msgs::Object::CUSTOM_LIGHT

Spawn custom light object.

#define CYLINDER   gap::msgs::Object::CYLINDER

Spawn cylinder object.

#define INFO   gap::msgs::WorldUtilsResponse::INFO

Provide world state information.

#define MODEL   gap::msgs::Object::MODEL

Spawn a model included in gazebo model path.

#define MOVE   gap::msgs::WorldUtilsRequest::MOVE

Move entity.

#define PAUSE   gap::msgs::WorldUtilsRequest::PAUSE

Pause or resume simulation.

#define PHYSICS   gap::msgs::WorldUtilsRequest::PHYSICS

Start or stop physcis simulation.

#define REMOVE   gap::msgs::WorldUtilsRequest::REMOVE

Remove entity from the world.

#define REQUEST_TOPIC   "~/gap/world_utils"

Topic monitored for incoming commands.

#define RESPONSE_TOPIC   "~/gap/world_utils/response"

Topic for publishing replies.

#define SPAWN   gap::msgs::WorldUtilsRequest::SPAWN

Spawn entity.

#define SPHERE   gap::msgs::Object::SPHERE

Spawn sphere object.

#define STATUS   gap::msgs::WorldUtilsRequest::STATUS

Get entity or world information.

#define SUCCESS   gap::msgs::WorldUtilsResponse::SUCCESS

TODO.