Ignition Gazebo

API Reference

3.5.0
PosePublisher Class Reference

Pose publisher system. Attach to an entity to publish the transform of its child entities in the form of ignition::msgs::Pose messages, or a single ignition::msgs::Pose_V message if "use_pose_vector_msg" is true. More...

#include <PosePublisher.hh>

Public Member Functions

 PosePublisher ()
 Constructor. More...
 
 ~PosePublisher () override=default
 Destructor. More...
 
void Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
 Configure the system. More...
 
void PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override
 
- Public Member Functions inherited from System
 System ()
 Constructor. More...
 
virtual ~System ()
 Destructor. More...
 

Detailed Description

Pose publisher system. Attach to an entity to publish the transform of its child entities in the form of ignition::msgs::Pose messages, or a single ignition::msgs::Pose_V message if "use_pose_vector_msg" is true.

The following parameters are used by the system:

publish_link_pose : Set to true to publish link pose publish_visual_pose : Set to true to publish visual pose publish_collision_pose : Set to true to publish collision pose publish_sensor_pose : Set to true to publish sensor pose publish_nested_model_pose : Set to true to publish nested model pose. The pose of the model that contains this system is also published. use_pose_vector_msg : Set to true to publish an ignition::msgs::Pose_V message instead of mulitple ignition::msgs::Pose messages. update_frequency : Frequency of pose publications in Hz. A negative frequency publishes as fast as possible (i.e, at the rate of the simulation step) static_publisher : Set to true to publish static poses on a "<scoped_entity_name>/pose_static" topic. This will cause only dynamic poses to be published on the "<scoped_entity_name>/pose" topic. static_update_frequency : Frequency of static pose publications in Hz. A negative frequency publishes as fast as possible (i.e, at the rate of the simulation step).

Constructor & Destructor Documentation

◆ PosePublisher()

Constructor.

◆ ~PosePublisher()

~PosePublisher ( )
overridedefault

Destructor.

Member Function Documentation

◆ Configure()

void Configure ( const Entity _entity,
const std::shared_ptr< const sdf::Element > &  _sdf,
EntityComponentManager _ecm,
EventManager _eventMgr 
)
overridevirtual

Configure the system.

Parameters
[in]_entityThe entity this plugin is attached to.
[in]_sdfThe SDF Element associated with this system plugin.
[in]_ecmThe EntityComponentManager of the given simulation instance.
[in]_eventMgrThe EventManager of the given simulation instance.

Implements ISystemConfigure.

◆ PostUpdate()

void PostUpdate ( const UpdateInfo _info,
const EntityComponentManager _ecm 
)
overridevirtual

Implements ISystemPostUpdate.


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