Gazebo Gazebo

API Reference

6.16.0
CommsEndpoint Class Reference

A system that registers in the comms broker an endpoint. You're creating an address attached to the model where the plugin is running. The system will bind this address in the broker automatically for you and unbind it when the model is destroyed. More...

#include <CommsEndpoint.hh>

Public Member Functions

 CommsEndpoint ()
 Constructor. More...
 
 ~CommsEndpoint ()
 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 PreUpdate (const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override
 
- Public Member Functions inherited from System
 System ()=default
 Constructor. More...
 
virtual ~System ()=default
 Destructor. More...
 

Detailed Description

A system that registers in the comms broker an endpoint. You're creating an address attached to the model where the plugin is running. The system will bind this address in the broker automatically for you and unbind it when the model is destroyed.

The endpoint can be configured with the following SDF parameters:

  • Required parameters: <address> An identifier used to receive messages (string). <topic> The topic name where you want to receive the messages targeted to this address.
  • Optional parameters: <broker> Element used to capture where are the broker services. This block can contain any of the next optional parameters: <bind_service>: Service name used to bind an address. The default value is "/broker/bind" <unbind_service>: Service name used to unbind from an address. The default value is "/broker/unbind"

Here's an example: <plugin filename="ignition-gazebo-comms-endpoint-system" name="ignition::gazebo::systems::CommsEndpoint"> <address>addr1</address> <topic>addr1/rx</topic> <broker> <bind_service>/broker/bind</bind_service> <unbind_service>/broker/unbind</unbind_service> </broker> </plugin>

Constructor & Destructor Documentation

◆ CommsEndpoint()

Constructor.

◆ ~CommsEndpoint()

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.

◆ PreUpdate()

void PreUpdate ( const ignition::gazebo::UpdateInfo _info,
ignition::gazebo::EntityComponentManager _ecm 
)
overridevirtual

Implements ISystemPreUpdate.


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