The JointStatePub system publishes state information for a model. The published message type is gz::msgs::Model, and the publication topic is determined by the <topic>
parameter.
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#include <JointStatePublisher.hh>
Public Member Functions | |
JointStatePublisher () | |
Constructor. More... | |
~JointStatePublisher () override=default | |
Destructor. More... | |
void | Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &, EntityComponentManager &_ecm, EventManager &) override |
Configure the system. More... | |
void | PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) final |
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System ()=default | |
Constructor. More... | |
virtual | ~System ()=default |
Destructor. More... | |
Detailed Description
The JointStatePub system publishes state information for a model. The published message type is gz::msgs::Model, and the publication topic is determined by the <topic>
parameter.
By default the JointStatePublisher will publish all joints for a model. Use the <joint_name>
system parameter, described below, to control which joints are published.
System Parameters
<topic>
: Name of the topic to publish to. This parameter is optional, and if not provided, the joint state will be published to "/world/<world_name>/model/<model_name>/state". <joint_name>
: Name of a joint to publish. This parameter can be specified multiple times, and is optional. All joints in a model will be published if joint names are not specified.
Constructor & Destructor Documentation
◆ JointStatePublisher()
Constructor.
◆ ~JointStatePublisher()
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overridedefault |
Destructor.
Member Function Documentation
◆ Configure()
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overridevirtual |
Configure the system.
- Parameters
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[in] _entity The entity this plugin is attached to. [in] _sdf The SDF Element associated with this system plugin. [in] _ecm The EntityComponentManager of the given simulation instance. [in] _eventMgr The EventManager of the given simulation instance.
Implements ISystemConfigure.
◆ PostUpdate()
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finalvirtual |
Implements ISystemPostUpdate.
The documentation for this class was generated from the following file: