Pose publisher system. Attach to an entity to publish the transform of its child entities in the form of gz::msgs::Pose messages, or a single gz::msgs::Pose_V message if "use_pose_vector_msg" is true. More...
#include <PosePublisher.hh>
Public Member Functions | |
| PosePublisher () | |
| Constructor. More... | |
| ~PosePublisher () override=default | |
| 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 | PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override |
 Public Member Functions inherited from System | |
| System ()=default | |
| Constructor. More... | |
| virtual | ~System ()=default |
| Destructor. More... | |
Detailed Description
Pose publisher system. Attach to an entity to publish the transform of its child entities in the form of gz::msgs::Pose messages, or a single gz::msgs::Pose_V message if "use_pose_vector_msg" is true.
The following parameters are used by the system:
publish_link_pose : Set to true to publish link pose publish_visual_pose : Set to true to publish visual pose publish_collision_pose : Set to true to publish collision pose publish_sensor_pose : Set to true to publish sensor pose publish_model_pose : Set to true to publish model pose. publish_nested_model_pose : Set to true to publish nested model pose. The pose of the model that contains this system is also published unless publish_model_pose is set to false use_pose_vector_msg : Set to true to publish an gz::msgs::Pose_V message instead of mulitple gz::msgs::Pose messages. update_frequency : Frequency of pose publications in Hz. A negative frequency publishes as fast as possible (i.e, at the rate of the simulation step) static_publisher : Set to true to publish static poses on a "<scoped_entity_name>/pose_static" topic. This will cause only dynamic poses to be published on the "<scoped_entity_name>/pose" topic. static_update_frequency : Frequency of static pose publications in Hz. A negative frequency publishes as fast as possible (i.e, at the rate of the simulation step).
Constructor & Destructor Documentation
◆ PosePublisher()
| PosePublisher | ( | ) |
Constructor.
◆ ~PosePublisher()
|
overridedefault |
Destructor.
Member Function Documentation
◆ Configure()
|
overridevirtual |
Configure the system.
- Parameters
-
[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()
|
overridevirtual |
Implements ISystemPostUpdate.
The documentation for this class was generated from the following file: