gazebo Namespace Reference

Forward declarations for the common classes. More...

Namespaces

 client
 
 common
 Common namespace.
 
 event
 Event namespace.
 
 gui
 gui namespace
 
 math
 Math 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  ArduCopterPlugin
 Interface ArduCopter from ardupilot stack modeled after SITL/SIM_*. More...
 
class  ArrangePlugin
 
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  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  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  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  HydraDemoPlugin
 
class  ImuSensorPlugin
 An base class plugin for custom imu sensor processing. More...
 
class  InitialVelocityPlugin
 
class  InRegionEventSource
 The event generator class. More...
 
class  JointEventSource
 The event generator class. More...
 
class  JointTrajectoryPlugin
 
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  KeysToJointsPlugin
 Control joints in a model based on keypress messages received. 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  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  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  SimEventConnector
 Gazebo events to detect model creation/deletion. More...
 
class  SimEventsException
 
class  SimEventsPlugin
 
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  SystemPlugin
 A plugin loaded within the gzserver on startup. More...
 
class  TimerGUIPlugin
 A GUI plugin that displays a timer. More...
 
class  TransporterPlugin
 A plugin that allows models to transport (teleport) to a new location. 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  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< EventSourceEventSourcePtr
 
typedef boost::shared_ptr< GUIPluginGUIPluginPtr
 
typedef boost::shared_ptr< ModelPluginModelPluginPtr
 
typedef std::shared_ptr< RegionRegionPtr
 
typedef boost::shared_ptr< SensorPluginSensorPluginPtr
 
typedef boost::shared_ptr< SystemPluginSystemPluginPtr
 
typedef boost::shared_ptr< VisualPluginVisualPluginPtr
 
typedef boost::shared_ptr< WorldPluginWorldPluginPtr
 

Enumerations

enum  PluginType {
  WORLD_PLUGIN, MODEL_PLUGIN, SENSOR_PLUGIN, SYSTEM_PLUGIN,
  VISUAL_PLUGIN, GUI_PLUGIN
}
 Used to specify the type of plugin. 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

typedef std::shared_ptr<EventSource> EventSourcePtr
typedef boost::shared_ptr<GUIPlugin> GUIPluginPtr
typedef boost::shared_ptr<ModelPlugin> ModelPluginPtr
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

Function Documentation

GAZEBO_VISIBLE void gazebo::addPlugin ( const std::string &  _filename)

Add a system plugin.

Parameters
[in]_filenamePath to the plugin.
std::string gazebo::custom_exec ( std::string  _cmd)
GAZEBO_VISIBLE gazebo::physics::WorldPtr gazebo::loadWorld ( const std::string &  _worldFile)

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

Parameters
[in]_worldFileThe world file to load from.
Returns
Pointer to the created world. NULL on error.
GAZEBO_VISIBLE void gazebo::printVersion ( )

Output version information to the terminal.

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

Run a world for a specific number of iterations.

Parameters
[in]_worldPointer to a world.
[in]_iterationsNumber of iterations to execute.
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]_argcNumber of commandline arguments.
[in]_argvThe commandline arguments.
Returns
True on success.
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]_argsVector 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.
GAZEBO_VISIBLE bool gazebo::shutdown ( )

Stop and cleanup simulation.

Returns
True if the simulation is shutdown; false otherwise.

Referenced by Connection::ConnectToShutdown(), and Connection::DisconnectShutdown().