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

#include <WorldUtils.hh>

Public Member Functions
	WorldUtils ()
	Constructs the object. More...

void	Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)
	Loads the object. More...

void	onUpdate ()
	Callback function for handling world updates. More...

Public Attributes
std::mutex	mutex
	Mutex for safe data access. More...

Private Member Functions
void	onRequest (WorldUtilsRequestPtr &_msg)
	Callback function for handling incoming requests. More...

void	clearWorld ()
	Removes everything from the world. More...

void	clearMatching (const std::string &match, const bool is_light)
	Removes entities matching a given string. More...

const std::string	genSphere (const std::string &model_name, const double mass, const double radius, const ignition::math::Vector3d position, const ignition::math::Quaterniond orientation)
	Returns the SDF of a sphere. More...

const std::string	genCylinder (const std::string &model_name, const double mass, const double radius, const double length, const ignition::math::Vector3d position, const ignition::math::Quaterniond orientation)
	Returns the SDF of a cylinder. More...

const std::string	genBox (const std::string &model_name, const double mass, const ignition::math::Vector3d size, const ignition::math::Vector3d position, const ignition::math::Quaterniond orientation)
	Returns the SDF of a box. More...

Private Attributes
physics::WorldPtr	world
	A pointer to the world. More...

event::ConnectionPtr	updateConnection
	Connection to World Update events. More...

transport::NodePtr	node
	A node used for transport. More...

transport::SubscriberPtr	sub
	A subscriber to the request topic. More...

transport::PublisherPtr	pub
	A publisher to the reply topic. More...

transport::PublisherPtr	request_pub
	A publisher to the gazebo request topic. More...

transport::SubscriberPtr	response_sub
	A subscriber to the gazebo response topic. More...

transport::PublisherPtr	light_pub
	A publisher to light modify topic. More...

std::regex	script_reg
	Regex for applying custom material. More...

std::regex	pose_reg
	Regex for applying custom pose. More...

int	sphere_counter {0}
	Number of generated spheres. More...

int	cylinder_counter {0}
	Number of generated cylinders. More...

int	box_counter {0}
	Number of generated boxes. More...

int	light_counter {0}
	Number of generated lights. More...

std::queue< MoveObject >	move_queue
	Queue of objects with pending move actions. More...

Detailed Description

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

See the example usage below:

1 <plugin name="world" filename="libWorldUtils.so"/>

See worlds/spawner.world for a complete example.

Warning: This plugin is likely to undergo major changes, as some of its features can easily be done client-side.

Constructor & Destructor Documentation

WorldUtils ( )

Constructs the object.

Member Function Documentation

void clearMatching	(	const std::string &	match,
		const bool	is_light
	)

private

Removes entities matching a given string.

Parameters

match	The string to be matched
is_light	Whether to target light objects or not

void clearWorld ( )

private

Removes everything from the world.

const std::string genBox	(	const std::string &	model_name,
		const double	mass,
		const ignition::math::Vector3d	size,
		const ignition::math::Vector3d	position,
		const ignition::math::Quaterniond	orientation
	)

private

Returns the SDF of a box.

Parameters

model_name	Model name
mass	Model mass
size	Box size 3D vector
position	Box position
orientation	Box orientation

Returns: Box SDF

Deprecated:: Unused feature, easily replaced by client command

const std::string genCylinder	(	const std::string &	model_name,
		const double	mass,
		const double	radius,
		const double	length,
		const ignition::math::Vector3d	position,
		const ignition::math::Quaterniond	orientation
	)

private

Returns the SDF of a cylinder.

Parameters

model_name	Model name
mass	Model mass
radius	Cylinder radius
length	Cylinder length
position	Cylinder position
orientation	Cylinder orientation

Returns: Cylinder SDF string

Deprecated:: Unused feature, easily replaced by client command

const std::string genSphere	(	const std::string &	model_name,
		const double	mass,
		const double	radius,
		const ignition::math::Vector3d	position,
		const ignition::math::Quaterniond	orientation
	)

private

Returns the SDF of a sphere.

Parameters

model_name	Model name
mass	Model mass
radius	Sphere radius
position	Sphere position
orientation	Sphere orientation

Returns: Sphere SDF string

Deprecated:: Unused feature, easily replaced by client command

void Load	(	physics::WorldPtr	_world,
		sdf::ElementPtr	_sdf
	)

Loads the object.

Parameters

_world	The World object to which the plugin is attached
_sdf	The SDF element with plugin parameters

void onRequest ( WorldUtilsRequestPtr & _msg )

private

Callback function for handling incoming requests.

Parameters

_msg	The message

TODO - better structure

Extract parameters from message

If a spawn message was requested

Enclose in sdf xml tags

Regex to modify pose string in custom model

Change material script in string

void onUpdate ( )

Callback function for handling world updates.

Member Data Documentation

int box_counter {0}

private

Number of generated boxes.

int cylinder_counter {0}

private

Number of generated cylinders.

int light_counter {0}

private

Number of generated lights.

transport::PublisherPtr light_pub

private

A publisher to light modify topic.

std::queue<MoveObject> move_queue

private

Queue of objects with pending move actions.

std::mutex mutex

Mutex for safe data access.

transport::NodePtr node

private

A node used for transport.

std::regex pose_reg

private

Regex for applying custom pose.

transport::PublisherPtr pub

private

A publisher to the reply topic.

transport::PublisherPtr request_pub

private

A publisher to the gazebo request topic.

transport::SubscriberPtr response_sub

private

A subscriber to the gazebo response topic.

std::regex script_reg

private

Regex for applying custom material.

int sphere_counter {0}

private

Number of generated spheres.

transport::SubscriberPtr sub

private

A subscriber to the request topic.

event::ConnectionPtr updateConnection

private

Connection to World Update events.

physics::WorldPtr world

private

A pointer to the world.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation