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.