gazebo Namespace Reference

Forward declarations for the common classes. More...

Namespaces
	client
	common
	Common namespace.
	event
	Event namespace.
	gui
	gui namespace
	msgs
	Messages namespace.
	physics
	namespace for physics
	rendering
	Rendering namespace.
	sensors
	Sensors namespace.
	transport
	util

Classes
class	ActorPlugin
class	ActuatorPlugin
	Plugin for simulating a torque-speed curve for actuators. More...
class	ActuatorProperties
	Properties for a model of a rotational actuator. More...
class	AmbientOcclusionVisualPlugin
	Plugin that creates an ambient occlusion effect The current implementation uses the Crease Shading method ported from OGRE. More...
class	ArduCopterPlugin
	Interface ArduCopter from ardupilot stack modeled after SITL/SIM_*. More...
class	ArrangePlugin
class	AttachLightPlugin
	A model plugin that enables multiple lights in the world to be attached to links within the model. More...
class	BlinkVisualPlugin
	Plugin that makes a visual blink between two colors. More...
class	BreakableJointPlugin
	A plugin for breakable joints, based on a ForceTorque sensor plugin. More...
class	BuoyancyPlugin
	A plugin that simulates buoyancy of an object immersed in fluid. More...
class	CameraPlugin
class	CartDemoPlugin
	This plugin drives a four wheeled cart model forward and back by applying a small wheel torque. More...
class	CessnaGUIPlugin
	A GUI plugin that controls the Cessna model using the keyboard. More...
class	CessnaPlugin
	Allow moving the control surfaces of a Cessna C-172 plane. More...
class	ContactPlugin
	A plugin for a contact sensor. More...
class	ContainPlugin
	Plugin which emits Ignition Transport messages according to whether an entity's origin is inside or outside a given volume. More...
class	DepthCameraPlugin
class	DiffDrivePlugin
class	ElevatorPlugin
	Plugin to control a elevator. More...
class	EventSource
	The base class for emitting SimEvents. More...
class	ExistenceEventSource
class	FiducialCameraPlugin
	A camera sensor plugin for fiducial detection A fiducial is detected if its center is within the camera frustum and not occluded by other models in the view. More...
class	FlashLightPlugin
	A plugin that blinks a light component in the model. More...
class	FlashLightSetting
	Internal data class to hold individual flash light settings. More...
class	FollowerPlugin
	A simple object follower that finds the closest object in a depth image and commands a differential drive vehicle to move towards the object. More...
class	ForceTorquePlugin
	An base class plugin for custom force torque sensor processing. More...
class	GimbalSmall2dPlugin
	A plugin for controlling the angle of a gimbal joint. More...
class	GpuRayPlugin
class	GravityCompensationPlugin
	Plugin that provides gravity compensation. More...
class	GUIPlugin
	A plugin loaded within the gzclient on startup. More...
class	HarnessPlugin
	This plugin is designed to lower a model at a controlled rate. More...
class	HeightmapLODPlugin
	Plugin that sets the heightmap LOD. More...
class	HydraDemoPlugin
class	ImuSensorPlugin
	An base class plugin for custom imu sensor processing. More...
class	InitialVelocityPlugin
class	InRegionEventSource
	The event generator class. More...
class	JointControlPlugin
	Plugin that initializes joint controllers. More...
class	JointEventSource
	The event generator class. More...
class	JointTrajectoryPlugin
class	JoyPlugin
	The JoyPlugin connects to a joystick or gamepad, and transmits data from the joystick over an Ignition Transport topic. More...
class	KeyboardGUIPlugin
	A GUI plugin that captures key strokes from gzclient GUI and publishes over gz transport topic ~/keyboard/keypress More...
struct	KeyInfo
	Store information from SDF for each key. More...
class	KeysToCmdVelPlugin
	Send velocity commands to a model based on keypress messages received. More...
class	KeysToJointsPlugin
	Control joints in a model based on keypress messages received. More...
class	LedPlugin
	A plugin that blinks light and visual elements in a model. More...
class	LedSetting
	Internal data class to hold individual LED light settings. More...
class	LensFlareSensorPlugin
	Plugin that adds lens flare effect to a camera or multicamera sensor The plugin has the following optional parameter: <scale> Scale of lens flare. More...
class	LiftDragPlugin
	A plugin that simulates lift and drag. More...
class	LinearBatteryConsumerPlugin
	A plugin that manages a linear battery consumer. More...
class	LinearBatteryPlugin
	A plugin that simulates a linear battery. More...
class	LinkPlot3DPlugin
	A plugin that traces the trajectory of a link in the rendering scene. More...
class	LookAtDemoPlugin
	A GUI plugin that demos the ignition::math::Matrix4<T>::LookAt function. More...
class	Master
	A manager that directs topic connections, enables each gazebo network client to locate one another for peer-to-peer communication. More...
class	MisalignmentPlugin
	Plugin which emits gazebo transport message indicating the alignment of two poses. More...
class	ModelPlugin
	A plugin with access to physics::Model. More...
class	ModelPropShop
	This plugin will generate 5 pictures of a model: perspective, top, front, side, back. More...
class	ModelResourceRetriever
class	MudPlugin
class	OccupiedEventSource
	A plugin that transmits a message when an in-region event occurs. More...
class	PlaneDemoPlugin
	A plugin that simulates lift and drag. More...
class	PluginT
	A class which all plugins must inherit from. More...
class	PressurePlugin
	A plugin for a tactile pressure sensor. More...
class	RandomVelocityPlugin
	Plugin that applies a random velocity to a linke periodically. More...
class	RayPlugin
	A Ray Sensor Plugin. More...
class	RaySensorNoisePlugin
	A Ray Sensor Noise Plugin. More...
class	RazerHydra
class	Region
	A region, made of a list of boxes. More...
class	RegionEventBoxPlugin
	A plugin that fires an event when another model enters the region defined by the size of this model's box visual. More...
class	RenderingFixture
class	RestApi
	REST interface. More...
class	RestException
class	RestUiPlugin
	REST user interface plugin. More...
class	RestUiWidget
	REST user interface widget. More...
class	RestWebPlugin
	REST web plugin. More...
class	RubblePlugin
class	SensorPlugin
	A plugin with access to physics::Sensor. More...
class	Server
class	ServerFixture
class	ShaderParamVisualPlugin
	A plugin that demonstrates how to set shader parameters of a material used by a visual. More...
class	SimEventConnector
	Gazebo events to detect model creation/deletion. More...
class	SimEventsException
class	SimEventsPlugin
class	SimpleTrackedVehiclePlugin
	A very fast, but also very accurate model of non-deformable tracks without grousers. More...
class	SimStateEventSource
	SimEvent that fires when the simulation is paused/resumed. More...
class	SkidSteerDrivePlugin
	A gazebo model plugin that controls a four wheel skid-steer robot via a gazebo topic. More...
class	SonarPlugin
	A sonar sensor plugin. More...
class	SphereAtlasDemoPlugin
class	StaticMapPlugin
	A plugin that creates a model with textured map images. More...
class	StopWorldPlugin
	This plugin will stop the world. More...
class	SystemPlugin
	A plugin loaded within the gzserver on startup. More...
class	TimerGUIPlugin
	A GUI plugin that displays a timer. More...
class	TouchPlugin
	Plugin which checks if this model has touched some specific target for a given time continuously and exclusively. More...
class	TrackedVehiclePlugin
	An abstract gazebo model plugin for tracked vehicles. More...
class	TransporterPlugin
	A plugin that allows models to transport (teleport) to a new location. More...
class	VariableGearboxPlugin
	A plugin that uses piecewise cubic Hermite splines to support arbitrary smooth input-output relationships between the input and output angles of a gearbox. More...
class	VehiclePlugin
class	VisualPlugin
	A plugin with access to rendering::Visual. More...
class	VolumeProperties
	A class for storing the volume properties of a link. More...
class	WheelSlipPlugin
	A plugin that updates ODE wheel slip parameters based on linear wheel spin velocity (radius * spin rate). More...
class	WheelTrackedVehiclePlugin
	An approximate model of non-deformable tracks emulated by wheels. More...
class	WindPlugin
	A plugin that simulates a simple wind model. More...
class	WorldPlugin
	A plugin with access to physics::World. More...

Typedefs
typedef std::shared_ptr< EventSource >	EventSourcePtr
typedef boost::shared_ptr< GUIPlugin >	GUIPluginPtr
typedef boost::shared_ptr< ModelPlugin >	ModelPluginPtr
using	ModelResourceRetrieverPtr = std::shared_ptr< ModelResourceRetriever >
typedef std::shared_ptr< Region >	RegionPtr
typedef boost::shared_ptr< SensorPlugin >	SensorPluginPtr
typedef boost::shared_ptr< SystemPlugin >	SystemPluginPtr
typedef boost::shared_ptr< VisualPlugin >	VisualPluginPtr
typedef boost::shared_ptr< WorldPlugin >	WorldPluginPtr

Enumerations
enum	PluginType {   WORLD_PLUGIN, MODEL_PLUGIN, SENSOR_PLUGIN, SYSTEM_PLUGIN,   VISUAL_PLUGIN, GUI_PLUGIN }
	Used to specify the type of plugin. More...
enum	Tracks : bool { LEFT, RIGHT }
	Enum for distinguishing between left and right tracks. More...

Functions
GAZEBO_VISIBLE void	addPlugin (const std::string &_filename)
	Add a system plugin. More...
std::string	custom_exec (std::string _cmd)
GAZEBO_VISIBLE gazebo::physics::WorldPtr	loadWorld (const std::string &_worldFile)
	Create and load a new world from an SDF world file. More...
GAZEBO_VISIBLE void	printVersion ()
	Output version information to the terminal. More...
GAZEBO_VISIBLE void	runWorld (gazebo::physics::WorldPtr _world, unsigned int _iterations)
	Run a world for a specific number of iterations. More...
GAZEBO_VISIBLE bool	setupServer (int _argc=0, char **_argv=0)
	Start a gazebo server. More...
GAZEBO_VISIBLE bool	setupServer (const std::vector< std::string > &_args)
	Start a gazebo server. More...
GAZEBO_VISIBLE bool	shutdown ()
	Stop and cleanup simulation. More...

Detailed Description

Forward declarations for the common classes.

Example SDF: <plugin name="actuator_plugin" filename="libActuatorPlugin.so"> <actuator> <name>actuator_0</name> <joint>JOINT_0</joint> <index>0</index> <type>electric_motor</type> <power>20</power> <max_velocity>6</max_velocity> <max_torque>10.0</max_torque> </actuator> </plugin> </model>

Forward declarations for the util classes.

Required fields:

• name
• joint
• index (can be 0 in most cases)
• type: current options are electric_motor, velocity_limiter or null Required for motor model electric_motor:
• power
• max_velocity
• max_torque Required for motor model velocity_limiter:
• max_velocity
• max_torque

Typedef Documentation

EventSourcePtr

typedef std::shared_ptr<EventSource> EventSourcePtr

GUIPluginPtr

typedef boost::shared_ptr<GUIPlugin> GUIPluginPtr

ModelPluginPtr

typedef boost::shared_ptr<ModelPlugin> ModelPluginPtr

ModelResourceRetrieverPtr

using ModelResourceRetrieverPtr = std::shared_ptr<ModelResourceRetriever>

RegionPtr

typedef std::shared_ptr<Region> RegionPtr

SensorPluginPtr

typedef boost::shared_ptr<SensorPlugin> SensorPluginPtr

SystemPluginPtr

typedef boost::shared_ptr<SystemPlugin> SystemPluginPtr

VisualPluginPtr

typedef boost::shared_ptr<VisualPlugin> VisualPluginPtr

WorldPluginPtr

typedef boost::shared_ptr<WorldPlugin> WorldPluginPtr

Enumeration Type Documentation

Tracks

enum Tracks : bool

strong

Enum for distinguishing between left and right tracks.

Enumerator
LEFT
RIGHT

Function Documentation

addPlugin()

GAZEBO_VISIBLE void gazebo::addPlugin

(

const std::string &

_filename

)

Add a system plugin.

Parameters

[in]

_filename

Path to the plugin.

custom_exec()

std::string gazebo::custom_exec

(

std::string

_cmd

)

loadWorld()

GAZEBO_VISIBLE gazebo::physics::WorldPtr gazebo::loadWorld

(

const std::string &

_worldFile

)

Create and load a new world from an SDF world file.

Parameters

[in]

_worldFile

The world file to load from.

Returns

Pointer to the created world. NULL on error.

printVersion()

GAZEBO_VISIBLE void gazebo::printVersion

(

)

Output version information to the terminal.

runWorld()

GAZEBO_VISIBLE void gazebo::runWorld	(	gazebo::physics::WorldPtr	_world,
		unsigned int	_iterations
	)

Run a world for a specific number of iterations.

Parameters

[in]	_world	Pointer to a world.
[in]	_iterations	Number of iterations to execute.

setupServer() [1/2]

GAZEBO_VISIBLE bool gazebo::setupServer	(	int	_argc = 0,
		char **	_argv = 0
	)

Start a gazebo server.

This starts transportation, and makes it possible to create worlds.

Parameters

[in]	_argc	Number of commandline arguments.
[in]	_argv	The commandline arguments.

Returns

True on success.

setupServer() [2/2]

GAZEBO_VISIBLE bool gazebo::setupServer

(

const std::vector< std::string > &

_args

)

Start a gazebo server.

This starts transportation, and makes it possible to create worlds.

Parameters

[in]

_args

Vector of arguments only parsed by the system plugins. Note that when you run gazebo/gzserver, all the options (–version, –server-plugin, etc.) are parsed but when using Gazebo as a library, the arguments are only parsed by the system plugins.

See also

gazebo::SystemPlugin::Load()

Returns

True on success.

shutdown()

GAZEBO_VISIBLE bool gazebo::shutdown

(

)

Stop and cleanup simulation.

Returns

True if the simulation is shutdown; false otherwise.

Referenced by Connection::ConnectToShutdown().