#include <ServerFixture.hh>

Inherits Test.

Protected Member Functions
	ServerFixture ()
	Constructor. More...

virtual	~ServerFixture ()
	Destructor. More...

void	DoubleCompare (double _scanA, double _scanB, unsigned int _sampleCount, double &_diffMax, double &_diffSum, double &_diffAvg)
	Function to compare two double arrays (for example two laser scans). More...

ignition::math::Pose3d	EntityPose (const std::string &_name)
	Get the pose of an entity. More...

void	FloatCompare (float _scanA, float _scanB, unsigned int _sampleCount, float &_diffMax, float &_diffSum, float &_diffAvg)
	Function to compare two float arrays (for example two laser scans). More...

void	GetFrame (const std::string &_cameraName, unsigned char **_imgData, unsigned int &_width, unsigned int &_height)
	Get an image frame from a camera. More...

void	GetMemInfo (double &_resident, double &_share)
	Get the current memory information. More...

physics::ModelPtr	GetModel (const std::string &_name)
	Get a pointer to a model. More...

double	GetPercentRealTime () const
	Get the real-time factor. More...

rendering::ScenePtr	GetScene (const std::string &_sceneName="default")
	Get a pointer to the rendering scene. More...

std::string	GetUniqueString (const std::string &_prefix)
	Get unique string with a specified prefix. More...

bool	HasEntity (const std::string &_name)
	Return true if the named entity exists. More...

void	ImageCompare (unsigned char _imageA, unsigned char _imageB, unsigned int _width, unsigned int _height, unsigned int _depth, unsigned int &_diffMax, unsigned int &_diffSum, double &_diffAvg)
	Function to compare two images. More...

virtual void	Load (const std::string &_worldFilename)
	Load a world based on a filename. More...

virtual void	Load (const std::string &_worldFilename, bool _paused)
	Load a world based on a filename and set simulation paused/un-paused. More...

virtual void	Load (const std::string &_worldFilename, bool _paused, const std::string &_physics, const std::vector< std::string > &_systemPlugins={})
	Load a world based on a filename and set simulation paused/un-paused, and specify physics engine. More...

virtual void	LoadArgs (const std::string &_args)
	Load a world in gzserver. More...

void	LoadPlugin (const std::string &_filename, const std::string &_name)
	Load a plugin. More...

void	OnPose (ConstPosesStampedPtr &_msg)
	Function that received poses messages from a running simulation. More...

void	OnStats (ConstWorldStatisticsPtr &_msg)
	Function that received world stastics messages. More...

void	PrintImage (const std::string &_name, unsigned char **_image, unsigned int _width, unsigned int _height, unsigned int _depth)
	Print image data to screen. More...

void	PrintScan (const std::string &_name, double *_scan, unsigned int _sampleCount)
	Print laser scan to screen. More...

void	Record (const std::string &_name, const double _data)
	Helper to record data to gtest xml output. More...

void	Record (const std::string &_prefix, const ignition::math::SignalStats &_stats)
	Helper to record signal statistics to gtest xml output. More...

void	Record (const std::string &_prefix, const ignition::math::Vector3Stats &_stats)
	Helper to record Vector3d signal statistics to gtest xml output. More...

void	RemoveModel (const std::string &_name)
	Remove a model by name. More...

void	RemovePlugin (const std::string &_name)
	Remove a plugin. More...

void	RunServer (const std::vector< std::string > &_args)
	Run the server. More...

void	SetPause (bool _pause)
	Set a running simulation paused/unpaused. More...

void	SpawnBox (const std::string &_name, const ignition::math::Vector3d &_size=ignition::math::Vector3d::One, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn a box. More...

void	SpawnCamera (const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, unsigned int _width=320, unsigned int _height=240, double _rate=25, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0, bool _distortion=false, double _distortionK1=0.0, double _distortionK2=0.0, double _distortionK3=0.0, double _distortionP1=0.0, double _distortionP2=0.0, double _cx=0.5, double _cy=0.5)
	Spawn a camera. More...

void	SpawnCylinder (const std::string &_name, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn a cylinder. More...

void	SpawnDepthCameraSensor (const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const unsigned int _width=320, const unsigned int _height=240, const double _rate=25, const double _near=0.1, const double _far=10)
	Spawn a depth camera. More...

void	SpawnEmptyLink (const std::string &_name, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn an empty link. More...

void	SpawnGpuRaySensor (const std::string &_modelName, const std::string &_raySensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0)
	Spawn a gpu laser. More...

void	SpawnImuSensor (const std::string &_modelName, const std::string &_imuSensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const std::string &_noiseType="", double _rateNoiseMean=0.0, double _rateNoiseStdDev=0.0, double _rateBiasMean=0.0, double _rateBiasStdDev=0.0, double _accelNoiseMean=0.0, double _accelNoiseStdDev=0.0, double _accelBiasMean=0.0, double _accelBiasStdDev=0.0)
	Spawn an imu sensor laser. More...

void	SpawnLight (const std::string &_name, const std::string &_type, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, const common::Color &_diffuse, const common::Color &_specular=common::Color::White, const ignition::math::Vector3d &_direction=-ignition::math::Vector3d::UnitZ, double _attenuationRange=20, double _attenuationConstant=0.5, double _attenuationLinear=0.01, double _attenuationQuadratic=0.001, double _spotInnerAngle=0, double _spotOuterAngle=0, double _spotFallOff=0, bool _castShadows=true) GAZEBO_DEPRECATED(9.0)
	Spawn a light. More...

void	SpawnLight (const std::string &_name, const std::string &_type, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const ignition::math::Color &_diffuse=ignition::math::Color::White, const ignition::math::Color &_specular=ignition::math::Color::White, const ignition::math::Vector3d &_direction=-ignition::math::Vector3d::UnitZ, const double _attenuationRange=20, const double _attenuationConstant=0.5, const double _attenuationLinear=0.01, const double _attenuationQuadratic=0.001, const double _spotInnerAngle=0, const double _spotOuterAngle=0, const double _spotFallOff=0, const bool _castShadows=true)
	Spawn a light. More...

physics::ModelPtr	SpawnModel (const msgs::Model &_msg)
	Spawn a model from a msgs::Model and return ModelPtr. More...

void	SpawnModel (const std::string &_filename)
	Spawn a model from file. More...

void	SpawnRaySensor (const std::string &_modelName, const std::string &_raySensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _vMinAngle=-1.0, double _vMaxAngle=1.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, unsigned int _vSamples=1, double _hResolution=1.0, double _vResolution=1.0, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0)
	Spawn a laser. More...

void	SpawnSDF (const std::string &_sdf)
	Send a factory message based on an SDF string. More...

sensors::SonarSensorPtr	SpawnSonar (const std::string &_modelName, const std::string &_sonarName, const ignition::math::Pose3d &_pose, const double _minRange, const double _maxRange, const double _radius)
	Spawn a sonar. More...

void	SpawnSphere (const std::string &_name, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, bool _wait=true, bool _static=false)
	Spawn a sphere. More...

void	SpawnSphere (const std::string &_name, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, const ignition::math::Vector3d &_cog, double _radius=1.0, bool _wait=true, bool _static=false)
	Spawn a sphere. More...

void	SpawnTrimesh (const std::string &_name, const std::string &_modelPath, const ignition::math::Vector3d &_scale=ignition::math::Vector3d::One, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn a triangle mesh. More...

void	SpawnUnitAltimeterSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn an altimeter sensor on a link. More...

void	SpawnUnitContactSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn a contact sensor with the specified collision geometry. More...

void	SpawnUnitImuSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn an IMU sensor on a link. More...

void	SpawnUnitMagnetometerSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn a magnetometer sensor on a link. More...

void	SpawnWideAngleCamera (const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, unsigned int _width=320, unsigned int _height=240, double _rate=25, const double _hfov=60, const std::string &_lensType="stereographic", const bool _scaleToHfov=true, const double _cutoffAngle=3.1415, const double _envTextureSize=512, const double _c1=1.05, const double _c2=4, const double _f=1.0, const std::string &_fun="tan")
	Spawn a wide angle camera. More...

void	SpawnWirelessReceiverSensor (const std::string &_name, const std::string &_sensorName, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, double _minFreq, double _maxFreq, double _power, double _gain, double _sensitivity, bool _visualize=true)
	Spawn an Wireless receiver sensor on a link. More...

void	SpawnWirelessTransmitterSensor (const std::string &_name, const std::string &_sensorName, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, const std::string &_essid, double _freq, double _power, double _gain, bool _visualize=true)
	Spawn an Wireless transmitter sensor on a link. More...

virtual void	TearDown ()
	Tear down the test fixture. This gets called by gtest. More...

virtual void	Unload ()
	Unload the test fixture. More...

void	WaitUntilEntitySpawn (const std::string &_name, unsigned int _sleepEach, int _retries)
	Wait for a number of ms. More...

void	WaitUntilIteration (const uint32_t _goalIteration, const int _sleepEach, const int _retries) const
	Wait for a number of ms. More...

void	WaitUntilSensorSpawn (const std::string &_name, unsigned int _sleepEach, int _retries)
	Wait for a number of ms. More...

void	WaitUntilSimTime (const common::Time &_goalTime, const int _ms, const int _maxRetries) const
	Wait for a number of ms. More...

Static Protected Member Functions
template<typename T >
static void	CheckPointer (boost::shared_ptr< T > _ptr)
	Check that a pointer is not NULL. More...

Protected Attributes
transport::PublisherPtr	factoryPub
	Factory publisher. More...

transport::NodePtr	node
	Pointer to a node for communication. More...

common::Time	pauseTime

std::map< std::string, ignition::math::Pose3d >	poses
	Map of received poses. More...

transport::SubscriberPtr	poseSub
	Pose subscription. More...

common::Time	realTime

std::mutex	receiveMutex
	Mutex to protect data structures that store messages. More...

transport::PublisherPtr	requestPub
	Request publisher. More...

Server *	server
	Pointer the Gazebo server. More...

boost::thread *	serverThread
	Pointer the thread the runs the server. More...

common::Time	simTime
	Current simulation time, real time, and pause time. More...

transport::SubscriberPtr	statsSub
	World statistics subscription. More...

Constructor & Destructor Documentation

ServerFixture ( )

protected

Constructor.

virtual ~ServerFixture ( )

protectedvirtual

Destructor.

Member Function Documentation

static void CheckPointer ( boost::shared_ptr< T > _ptr )

inlinestaticprotected

Check that a pointer is not NULL.

A function is created for this purpose, since ASSERT's cannot be called from non-void functions.

Parameters

[in] _ptr Pointer to verify is not NULL.

References NULL.

void DoubleCompare	(	double *	_scanA,
		double *	_scanB,
		unsigned int	_sampleCount,
		double &	_diffMax,
		double &	_diffSum,
		double &	_diffAvg
	)

protected

Function to compare two double arrays (for example two laser scans).

Parameters

[in]	_scanA	First double array.
[in]	_scanB	Second double array.
[in]	_sampleCount	Number of samples in each double array.
[out]	_diffMax	Maximum difference between the two arrays.
[out]	_diffSum	Sum of the differences between the two arrays.
[out]	_diffAvg	Average difference between the two arrays.

ignition::math::Pose3d EntityPose ( const std::string & _name )

protected

Get the pose of an entity.

Parameters

[in] _name Name of the entity.

Returns: Pose of the named entity.

void FloatCompare	(	float *	_scanA,
		float *	_scanB,
		unsigned int	_sampleCount,
		float &	_diffMax,
		float &	_diffSum,
		float &	_diffAvg
	)

protected

Function to compare two float arrays (for example two laser scans).

Parameters

[in]	_scanA	First float array.
[in]	_scanB	Second float array.
[in]	_sampleCount	Number of samples in each float array.
[out]	_diffMax	Maximum difference between the two arrays.
[out]	_diffSum	Sum of the differences between the two arrays.
[out]	_diffAvg	Average difference between the two arrays.

void GetFrame	(	const std::string &	_cameraName,
		unsigned char **	_imgData,
		unsigned int &	_width,
		unsigned int &	_height
	)

protected

Get an image frame from a camera.

Parameters

[in]	_cameraName	Name of the camera to get a frame from.
[out]	_imgData	Array that receives the image data.
[in]	_width	Width of the image frame.
[in]	_height	Height of the image frame.

void GetMemInfo	(	double &	_resident,
		double &	_share
	)

protected

Get the current memory information.

Parameters

[out]	_resident	Resident memory.
[out]	_share	Shared memory.

physics::ModelPtr GetModel ( const std::string & _name )

protected

Get a pointer to a model.

Parameters

[in] _name Name of the model to get.

Returns: Pointer to the model, or NULL if the model was not found.

double GetPercentRealTime ( ) const

protected

Get the real-time factor.

Returns: The percent real time simulation is running.

rendering::ScenePtr GetScene ( const std::string & _sceneName = "default" )

protected

Get a pointer to the rendering scene.

Parameters

[in] _sceneName Name of the scene to get.

std::string GetUniqueString ( const std::string & _prefix )

protected

Get unique string with a specified prefix.

Parameters

[in] _prefix Prefix for unique string.

Returns: String with prefix and unique number as suffix.

bool HasEntity ( const std::string & _name )

protected

Return true if the named entity exists.

Parameters

[in] _name Name of the entity to check for.

Returns: True if the entity exists.

void ImageCompare	(	unsigned char *	_imageA,
		unsigned char *	_imageB,
		unsigned int	_width,
		unsigned int	_height,
		unsigned int	_depth,
		unsigned int &	_diffMax,
		unsigned int &	_diffSum,
		double &	_diffAvg
	)

protected

Function to compare two images.

Parameters

[in]	_imageA	First image to compare.
[in]	_imageB	Second image to compare.
[in]	_width	Width of both images.
[in]	_height	Height of both images.
[in]	_depth	Depth of both images.
[out]	_diffMax	Maximum difference between the two arrays.
[out]	_diffSum	Sum of the differences between the two arrays.
[out]	_diffAvg	Average difference between the two arrays.

virtual void Load ( const std::string & _worldFilename )

protectedvirtual

Load a world based on a filename.

Parameters

[in] _worldFilename Name of the world to load.

virtual void Load	(	const std::string &	_worldFilename,
		bool	_paused
	)

protectedvirtual

Load a world based on a filename and set simulation paused/un-paused.

Parameters

[in]	_worldFilename	Name of the world to load.
[in]	_paused	True to start the world paused.

virtual void Load	(	const std::string &	_worldFilename,
		bool	_paused,
		const std::string &	_physics,
		const std::vector< std::string > &	_systemPlugins = `{}`
	)

protectedvirtual

Load a world based on a filename and set simulation paused/un-paused, and specify physics engine.

This versions allows plugins to be loaded (via the cmd line args)

Parameters

[in]	_worldFilename	Name of the world to load.
[in]	_paused	True to start the world paused.
[in]	_physics	Name of the physics engine.
[in]	_systemPlugins	Array of system plugins to load.

virtual void LoadArgs ( const std::string & _args )

protectedvirtual

Load a world in gzserver.

Parameters

[in] _args Options for the server using the same syntax used in the command line. E.g.: "-u --verbose" will run gzserver paused and in verbose mode.

void LoadPlugin	(	const std::string &	_filename,
		const std::string &	_name
	)

protected

Load a plugin.

Parameters

[in]	_filename	Plugin filename to load.
[in]	_name	Name to associate with with the plugin.

void OnPose ( ConstPosesStampedPtr & _msg )

protected

Function that received poses messages from a running simulation.

Parameters

[in] _msg Pose message.

void OnStats ( ConstWorldStatisticsPtr & _msg )

protected

Function that received world stastics messages.

Parameters

[in] _msg World statistics message.

void PrintImage	(	const std::string &	_name,
		unsigned char **	_image,
		unsigned int	_width,
		unsigned int	_height,
		unsigned int	_depth
	)

protected

Print image data to screen.

This is used to generate test data.

Parameters

[in]	_name	Name to associate with the printed data.
[in]	_image	The raw image data.
[in]	_width	Width of the image.
[in]	_height	Height of the image.
[in]	_depth	Pixel depth.

void PrintScan	(	const std::string &	_name,
		double *	_scan,
		unsigned int	_sampleCount
	)

protected

Print laser scan to screen.

This is used to generate test data.

Parameters

[in]	_name	Name to associate with the printed data.
[in]	_scan	The laser scan data.
[in]	_sampleCount	Number of samples in the scan data.

void Record	(	const std::string &	_name,
		const double	_data
	)

protected

Helper to record data to gtest xml output.

Parameters

[in]	_name	Name of data.
[in]	_data	Floating point number to store.

void Record	(	const std::string &	_prefix,
		const ignition::math::SignalStats &	_stats
	)

protected

Helper to record signal statistics to gtest xml output.

Parameters

[in]	_prefix	Prefix string for data names.
[in]	_stats	Signal statistics to store.

void Record	(	const std::string &	_prefix,
		const ignition::math::Vector3Stats &	_stats
	)

protected

Helper to record Vector3d signal statistics to gtest xml output.

Parameters

[in]	_prefix	Prefix string for data names.
[in]	_stats	Vector3d signal statistics to store.

void RemoveModel ( const std::string & _name )

protected

Remove a model by name.

Parameters

[in] _name Name of the model to remove.

void RemovePlugin ( const std::string & _name )

protected

Remove a plugin.

Parameters

[in] _name Name of the plugin to remove.

void RunServer ( const std::vector< std::string > & _args )

protected

Run the server.

Parameters

[in] _args Vector of options for the server using the same syntax used in the command line. E.g.: {"-u", "--verbose"} will run gzserver paused and in verbose mode.

void SetPause ( bool _pause )

protected

Set a running simulation paused/unpaused.

void SpawnBox	(	const std::string &	_name,
		const ignition::math::Vector3d &	_size = `ignition::math::Vector3d::One`,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		bool	_static = `false`
	)

protected

Spawn a box.

Parameters

[in]	_name	Name for the model.
[in]	_size	Size of the box.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

void SpawnCamera	(	const std::string &	_modelName,
		const std::string &	_cameraName,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		unsigned int	_width = `320`,
		unsigned int	_height = `240`,
		double	_rate = `25`,
		const std::string &	_noiseType = `""`,
		double	_noiseMean = `0.0`,
		double	_noiseStdDev = `0.0`,
		bool	_distortion = `false`,
		double	_distortionK1 = `0.0`,
		double	_distortionK2 = `0.0`,
		double	_distortionK3 = `0.0`,
		double	_distortionP1 = `0.0`,
		double	_distortionP2 = `0.0`,
		double	_cx = `0.5`,
		double	_cy = `0.5`
	)

protected

Spawn a camera.

Parameters

[in]	_modelName	Name of the model.
[in]	_cameraName	Name of the camera.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_width	Output image width.
[in]	_height	Output image height.
[in]	_rate	Output Hz.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.
[in]	_distortionK1	Distortion coefficient k1.
[in]	_distortionK2	Distortion coefficient k2.
[in]	_distortionK3	Distortion coefficient k3.
[in]	_distortionP1	Distortion coefficient P1.
[in]	_distortionP2	Distortion coefficient p2.
[in]	_cx	Normalized optical center x, used for distortion.
[in]	_cy	Normalized optical center y, used for distortion.

void SpawnCylinder	(	const std::string &	_name,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		bool	_static = `false`
	)

protected

Spawn a cylinder.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

void SpawnDepthCameraSensor	(	const std::string &	_modelName,
		const std::string &	_cameraName,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		const unsigned int	_width = `320`,
		const unsigned int	_height = `240`,
		const double	_rate = `25`,
		const double	_near = `0.1`,
		const double	_far = `10`
	)

protected

Spawn a depth camera.

Parameters

[in]	_modelName	Name of the model.
[in]	_cameraName	Name of the camera.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_width	Output image width.
[in]	_height	Output image height.
[in]	_rate	Output Hz.
[in]	_near	Near clipping distance
[in]	_far	Far clipping distance

void SpawnEmptyLink	(	const std::string &	_name,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		bool	_static = `false`
	)

protected

Spawn an empty link.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

void SpawnGpuRaySensor	(	const std::string &	_modelName,
		const std::string &	_raySensorName,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		double	_hMinAngle = `-2.0`,
		double	_hMaxAngle = `2.0`,
		double	_minRange = `0.08`,
		double	_maxRange = `10`,
		double	_rangeResolution = `0.01`,
		unsigned int	_samples = `640`,
		const std::string &	_noiseType = `""`,
		double	_noiseMean = `0.0`,
		double	_noiseStdDev = `0.0`
	)

protected

Spawn a gpu laser.

Parameters

[in]	_modelName	Name of the model.
[in]	_raySensorName	Name of the laser.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_hMinAngle	Horizontal min angle
[in]	_hMaxAngle	Horizontal max angle
[in]	_minRange	Min range
[in]	_maxRange	Max range
[in]	_rangeResolution	Resolution of the scan
[in]	_samples	Number of samples.
[in]	_rate	Output Hz.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.

void SpawnImuSensor	(	const std::string &	_modelName,
		const std::string &	_imuSensorName,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		const std::string &	_noiseType = `""`,
		double	_rateNoiseMean = `0.0`,
		double	_rateNoiseStdDev = `0.0`,
		double	_rateBiasMean = `0.0`,
		double	_rateBiasStdDev = `0.0`,
		double	_accelNoiseMean = `0.0`,
		double	_accelNoiseStdDev = `0.0`,
		double	_accelBiasMean = `0.0`,
		double	_accelBiasStdDev = `0.0`
	)

protected

Spawn an imu sensor laser.

Parameters

[in]	_modelName	Name of the model.
[in]	_imuSensorName	Name of the imu sensor.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.
[in]	_accelNoiseMean	Acceleration based noise mean.
[in]	_accelNoiseStdDev	Acceleration based noise standard deviation.
[in]	_accelBiasMean	Acceleration mean bias
[in]	_accelBiasStdDev	Acceleration standard deviation bias

void SpawnLight	(	const std::string &	_name,
		const std::string &	_type,
		const ignition::math::Vector3d &	_pos,
		const ignition::math::Vector3d &	_rpy,
		const common::Color &	_diffuse,
		const common::Color &	_specular = `common::Color::White`,
		const ignition::math::Vector3d &	_direction = `-ignition::math::Vector3d::UnitZ`,
		double	_attenuationRange = `20`,
		double	_attenuationConstant = `0.5`,
		double	_attenuationLinear = `0.01`,
		double	_attenuationQuadratic = `0.001`,
		double	_spotInnerAngle = `0`,
		double	_spotOuterAngle = `0`,
		double	_spotFallOff = `0`,
		bool	_castShadows = `true`
	)

protected

Spawn a light.

Parameters

[in]	_name	Name for the light.
[in]	_size	Type of light - "spot", "directional", or "point".
[in]	_pos	Position for the light.
[in]	_rpy	Roll, pitch, yaw for the light.
[in]	_diffuse	Diffuse color of the light.
[in]	_specular	Specular color of the light.
[in]	_direction	Direction of the light ("spot" and "directional").
[in]	_attenuationRange	Range of attenuation.
[in]	_attenuationConstant	Constant component of attenuation
[in]	_attenuationLinear	Linear component of attenuation
[in]	_attenuationQuadratic	Quadratic component of attenuation
[in]	_spotInnerAngle	Inner angle ("spot" only).
[in]	_spotOuterAngle	Outer angle ("spot" only).
[in]	_spotFallOff	Fall off ("spot" only).
[in]	_castShadows	True to cast shadows.

Deprecated:: See SpawnLight version with ignition::math::Color.

void SpawnLight	(	const std::string &	_name,
		const std::string &	_type,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		const ignition::math::Color &	_diffuse = `ignition::math::Color::White`,
		const ignition::math::Color &	_specular = `ignition::math::Color::White`,
		const ignition::math::Vector3d &	_direction = `-ignition::math::Vector3d::UnitZ`,
		const double	_attenuationRange = `20`,
		const double	_attenuationConstant = `0.5`,
		const double	_attenuationLinear = `0.01`,
		const double	_attenuationQuadratic = `0.001`,
		const double	_spotInnerAngle = `0`,
		const double	_spotOuterAngle = `0`,
		const double	_spotFallOff = `0`,
		const bool	_castShadows = `true`
	)

protected

Spawn a light.

Parameters

[in]	_name	Name for the light.
[in]	_type	Type of light - "spot", "directional", or "point".
[in]	_pos	Position for the light.
[in]	_rpy	Roll, pitch, yaw for the light.
[in]	_diffuse	Diffuse color of the light.
[in]	_specular	Specular color of the light.
[in]	_direction	Direction of the light ("spot" and "directional").
[in]	_attenuationRange	Range of attenuation.
[in]	_attenuationConstant	Constant component of attenuation
[in]	_attenuationLinear	Linear component of attenuation
[in]	_attenuationQuadratic	Quadratic component of attenuation
[in]	_spotInnerAngle	Inner angle ("spot" only).
[in]	_spotOuterAngle	Outer angle ("spot" only).
[in]	_spotFallOff	Fall off ("spot" only).
[in]	_castShadows	True to cast shadows.

physics::ModelPtr SpawnModel ( const msgs::Model & _msg )

protected

Spawn a model from a msgs::Model and return ModelPtr.

Parameters

[in] _msg Model message.

Returns: Pointer to model.

void SpawnModel ( const std::string & _filename )

protected

Spawn a model from file.

Parameters

[in] _filename File to load a model from.

void SpawnRaySensor	(	const std::string &	_modelName,
		const std::string &	_raySensorName,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		double	_hMinAngle = `-2.0`,
		double	_hMaxAngle = `2.0`,
		double	_vMinAngle = `-1.0`,
		double	_vMaxAngle = `1.0`,
		double	_minRange = `0.08`,
		double	_maxRange = `10`,
		double	_rangeResolution = `0.01`,
		unsigned int	_samples = `640`,
		unsigned int	_vSamples = `1`,
		double	_hResolution = `1.0`,
		double	_vResolution = `1.0`,
		const std::string &	_noiseType = `""`,
		double	_noiseMean = `0.0`,
		double	_noiseStdDev = `0.0`
	)

protected

Spawn a laser.

Parameters

[in]	_modelName	Name of the model.
[in]	_raySensorName	Name of the laser.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_hMinAngle	Horizontal min angle
[in]	_hMaxAngle	Horizontal max angle
[in]	_minRange	Min range
[in]	_maxRange	Max range
[in]	_rangeResolution	Resolution of the scan
[in]	_samples	Number of samples.
[in]	_rate	Output Hz.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.

void SpawnSDF ( const std::string & _sdf )

protected

Send a factory message based on an SDF string.

Parameters

[in] _sdf SDF string to publish.

sensors::SonarSensorPtr SpawnSonar	(	const std::string &	_modelName,
		const std::string &	_sonarName,
		const ignition::math::Pose3d &	_pose,
		const double	_minRange,
		const double	_maxRange,
		const double	_radius
	)

protected

Spawn a sonar.

Parameters

[in]	_modelName	Name of the model.
[in]	_sonarName	Name of the sonar.
[in]	_pose	Sonar pose.
[in]	_minRange	Minimum sonar range.
[in]	_maxRange	Maximum sonar range.
[in]	_radius	Sonar cone radius.

void SpawnSphere	(	const std::string &	_name,
		const ignition::math::Vector3d &	_pos,
		const ignition::math::Vector3d &	_rpy,
		bool	_wait = `true`,
		bool	_static = `false`
	)

protected

Spawn a sphere.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.
[in]	_wait	True to wait for the sphere to spawn before returning.

void SpawnSphere	(	const std::string &	_name,
		const ignition::math::Vector3d &	_pos,
		const ignition::math::Vector3d &	_rpy,
		const ignition::math::Vector3d &	_cog,
		double	_radius = `1.0`,
		bool	_wait = `true`,
		bool	_static = `false`
	)

protected

Spawn a sphere.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_cog	Center of gravity.
[in]	_radius	Sphere radius.
[in]	_static	True to make the model static.
[in]	_wait	True to wait for the sphere to spawn before returning.

void SpawnTrimesh	(	const std::string &	_name,
		const std::string &	_modelPath,
		const ignition::math::Vector3d &	_scale = `ignition::math::Vector3d::One`,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		bool	_static = `false`
	)

protected

Spawn a triangle mesh.

Parameters

[in]	_name	Name for the model.
[in]	_modelPath	Path to the mesh file.
[in]	_scale	Scaling factor.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

void SpawnUnitAltimeterSensor	(	const std::string &	_name,
		const std::string &	_sensorName,
		const std::string &	_collisionType,
		const std::string &	_topic,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		bool	_static = `false`
	)

protected

Spawn an altimeter sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_collisionType	Type of collision, box or cylinder
[in]	_topic	Topic to publish altimeter data to
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_static	True to make the model static

void SpawnUnitContactSensor	(	const std::string &	_name,
		const std::string &	_sensorName,
		const std::string &	_collisionType,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		bool	_static = `false`
	)

protected

Spawn a contact sensor with the specified collision geometry.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_collisionType	Type of collision, box or cylinder
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_static	True to make the model static

void SpawnUnitImuSensor	(	const std::string &	_name,
		const std::string &	_sensorName,
		const std::string &	_collisionType,
		const std::string &	_topic,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		bool	_static = `false`
	)

protected

Spawn an IMU sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_collisionType	Type of collision, box or cylinder
[in]	_topic	Topic to publish IMU data to
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_static	True to make the model static

void SpawnUnitMagnetometerSensor	(	const std::string &	_name,
		const std::string &	_sensorName,
		const std::string &	_collisionType,
		const std::string &	_topic,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		bool	_static = `false`
	)

protected

Spawn a magnetometer sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_collisionType	Type of collision, box or cylinder
[in]	_topic	Topic to publish magnetometer data to
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_static	True to make the model static

void SpawnWideAngleCamera	(	const std::string &	_modelName,
		const std::string &	_cameraName,
		const ignition::math::Vector3d &	_pos = `ignition::math::Vector3d::Zero`,
		const ignition::math::Vector3d &	_rpy = `ignition::math::Vector3d::Zero`,
		unsigned int	_width = `320`,
		unsigned int	_height = `240`,
		double	_rate = `25`,
		const double	_hfov = `60`,
		const std::string &	_lensType = `"stereographic"`,
		const bool	_scaleToHfov = `true`,
		const double	_cutoffAngle = `3.1415`,
		const double	_envTextureSize = `512`,
		const double	_c1 = `1.05`,
		const double	_c2 = `4`,
		const double	_f = `1.0`,
		const std::string &	_fun = `"tan"`
	)

protected

Spawn a wide angle camera.

Parameters

[in]	_modelName	Name of the model.
[in]	_cameraName	Name of the camera.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_width	Output image width.
[in]	_height	Output image height.
[in]	_rate	Output Hz.
[in]	_hfov	Horizontal field of view.
[in]	_lensType	Type of lens: gnomonical, stereographic, equidistant, equisolid_angle, or orthographic.
[in]	_scaleToHfov	True to use horizontal field of view as defined, otherwise it depends on lens type and custom function.
[in]	_cutoffAngle	Clip everything outside this angle
[in]	_envTextureSize	Cubemap environment texture size.
[in]	_c1	For "custom" lens type, the c1 coefficient used in the mapping function
[in]	_c2	For "custom" lens type, the c2 coefficient used in the mapping function
[in]	_f	For "custom" lens type, the focal length used in the mapping function
[in]	_fun	For "custom" lens type, the trigonometirc function used in the mapping function

void SpawnWirelessReceiverSensor	(	const std::string &	_name,
		const std::string &	_sensorName,
		const ignition::math::Vector3d &	_pos,
		const ignition::math::Vector3d &	_rpy,
		double	_minFreq,
		double	_maxFreq,
		double	_power,
		double	_gain,
		double	_sensitivity,
		bool	_visualize = `true`
	)

protected

Spawn an Wireless receiver sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_minFreq	Minimum frequency to be filtered (MHz)
[in]	_maxFreq	Maximum frequency to be filtered (MHz)
[in]	_power	Transmission power (dBm)
[in]	_gain	Antenna gain (dBi)
[in]	_sensitivity	Receiver sensitibity (dBm)
[in]	_visualize	Enable sensor visualization

void SpawnWirelessTransmitterSensor	(	const std::string &	_name,
		const std::string &	_sensorName,
		const ignition::math::Vector3d &	_pos,
		const ignition::math::Vector3d &	_rpy,
		const std::string &	_essid,
		double	_freq,
		double	_power,
		double	_gain,
		bool	_visualize = `true`
	)

protected

Spawn an Wireless transmitter sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_essid	Service set identifier (network name)
[in]	_freq	Frequency of transmission (MHz)
[in]	_power	Transmission power (dBm)
[in]	_gain	Antenna gain (dBi)
[in]	_visualize	Enable sensor visualization

virtual void TearDown ( )

protectedvirtual

Tear down the test fixture. This gets called by gtest.

virtual void Unload ( )

protectedvirtual

Unload the test fixture.

Reimplemented in RenderingFixture.

void WaitUntilEntitySpawn	(	const std::string &	_name,
		unsigned int	_sleepEach,
		int	_retries
	)

protected

Wait for a number of ms.

and attempts until the entity is spawned

Parameters

[in]	_name	Model name
[in]	_sleepEach	Number of milliseconds to sleep in each iteration
[in]	_retries	Number of iterations until give up

void WaitUntilIteration	(	const uint32_t	_goalIteration,
		const int	_sleepEach,
		const int	_retries
	)		const

protected

Wait for a number of ms.

and attempts until the world reaches a target "iterations" value

Parameters

_goalIteration	Target iterations value
_sleepEach	Number of milliseconds to sleep in each iteration
_retries	Number of iterations until give up

void WaitUntilSensorSpawn	(	const std::string &	_name,
		unsigned int	_sleepEach,
		int	_retries
	)

protected

Wait for a number of ms.

and attempts until the sensor is spawned

Parameters

[in]	_name	Sensor name
[in]	_sleepEach	Number of milliseconds to sleep in each iteration
[in]	_retries	Number of iterations until give up

void WaitUntilSimTime	(	const common::Time &	_goalTime,
		const int	_ms,
		const int	_maxRetries
	)		const

protected

Wait for a number of ms.

and attempts until the world reaches a target simulation time

Parameters

_goalTime	Target simulation time.
_sleepEach	Number of milliseconds to sleep in each iteration
_retries	Number of iterations until give up

Member Data Documentation

transport::PublisherPtr factoryPub

protected

Factory publisher.

transport::NodePtr node

protected

Pointer to a node for communication.

common::Time pauseTime

protected

std::map<std::string, ignition::math::Pose3d> poses

protected

Map of received poses.

transport::SubscriberPtr poseSub

protected

Pose subscription.

common::Time realTime

protected

std::mutex receiveMutex

protected

Mutex to protect data structures that store messages.

transport::PublisherPtr requestPub

protected

Request publisher.

Server* server

protected

Pointer the Gazebo server.

boost::thread* serverThread

protected

Pointer the thread the runs the server.

common::Time simTime

protected

Current simulation time, real time, and pause time.

transport::SubscriberPtr statsSub

protected

World statistics subscription.

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

ServerFixture.hh

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation