Gazebo Gazebo

API Reference

3.15.1

Migration from Gazebo-classic: Model API

When migrating plugins from Gazebo-classic to Ignition Gazebo, developers will notice that the C++ APIs for both simulators are quite different. Be sure to check the plugin migration tutorial to get a high-level view of the architecture differences before using this guide.

This tutorial is meant to serve as a reference guide for developers migrating functions from the sim::physics::Model class.

If you're trying to use some API which doesn't have an equivalent on Ignition yet, feel free to ticket an issue.

Model API

Gazebo-classic's sim::physics::Model provides lots of functionality, which can be divided in these categories:

You'll find the Ignition APIs below on the following headers:

It's worth remembering that most of this functionality can be performed using the EntityComponentManager directly. The functions presented here exist for convenience and readability.

Properties

Most of Gazebo-classic's Model API is related to setting and getting properties. These functions are great candidates to have equivalents on Ignition Gazebo, because the Entity-Component-System architecture is perfect for setting components (properties) into entities such as models.


Classic Ignition
AddType ecm.CreateComponent<Type>(entity, Type())
BoundingBox TODO
CollisionBoundingBox TODO
DirtyPose Not supported
FillMsg TODO
GetAutoDisable TODO
GetId gz::sim::Model::Entity
GetName gz::sim::Model::Name
GetPluginCount TODO
GetSDF TODO
GetSDFDom TODO
GetSaveable Not supported
GetScopedName gz::sim::scopedName
GetSelfCollide gz::sim::Model::SelfCollide
GetType gz::sim::entityType
GetWorldEnergy TODO
GetWorldEnergyKinetic TODO
GetWorldEnergyPotential TODO
HasType sim::components::Model::typeId == entityTypeId(entity, ecm)
InitialRelativePose TODO
IsCanonicalLink See link API
IsSelected Selection is client-specific, not porting
IsStatic gz::sim::Model::Static
PluginInfo TODO
Print TODO
ProcessMsg TODO
RelativeAngularAccel TODO
RelativeAngularVel TODO
RelativeLinearAccel TODO
RelativeLinearVel TODO
RelativePose TODO
SDFPoseRelativeToParent TODO
SDFSemanticPose TODO
Scale TODO
SensorScopedName TODO
SetAngularVel TODO
SetAnimation TODO
SetAutoDisable TODO
SetCollideMode TODO
SetEnabled TODO
SetGravityMode TODO
SetInitialRelativePose TODO
SetJointAnimation TODO
SetJointPosition See joint API
SetJointPositions See joint API
SetLaserRetro TODO
SetLinearVel TODO
SetLinkWorldPose See link API
SetName TODO
SetRelativePose TODO
SetSaveable Not supported
SetScale TODO
SetSelected Selection is client-specific, not porting
SetSelfCollide TODO
SetState TODO
SetStatic TODO
SetWindMode TODO
SetWorldPose gz::sim::Model::SetWorldPoseCmd
SetWorldTwist TODO
StopAnimation TODO
TypeStr gz::sim::entityTypeStr
URI TODO
UnscaledSDF TODO
UpdateParameters TODO
WindMode gz::sim::Model::WindMode
WorldAngularAccel TODO
WorldAngularVel TODO
WorldLinearAccel TODO
WorldLinearVel TODO
WorldPose gz::sim::worldPose

Read family

These APIs deal with reading information related to child / parent relationships.

The main difference in these APIs across Gazebo generations is that on classic, they deal with shared pointers to entities, while on Ignition, they deal with entity IDs.


Classic Ignition
GetByName Use type-specific gz::sim::Model::*ByName
GetChild Use type-specific gz::sim::Model::*ByName
GetChildCollision See link API
GetChildCount Use type-specific gz::sim::Model::*Count
GetChildLink gz::sim::Model::LinkByName
GetGripper TODO
GetGripperCount TODO
GetJoint gz::sim::Model::JointByName
GetJointCount gz::sim::Model::JointCount
GetJoints gz::sim::Model::Joints
GetLink gz::sim::Model::LinkByName
GetLinks const gz::sim::Model::Links
GetParent gz::sim::EntiyComponentManager::ParentEntity
GetParentId gz::sim::EntiyComponentManager::ParentEntity
GetParentModel gz::sim::EntiyComponentManager::ParentEntity
GetSensorCount See link API
GetWorld const gz::sim::Model::World
NestedModel gz::sim::Model::NestedModelByName
NestedModels const gz::sim::Model::NestedModels

Write family

These functions deal with modifying the entity tree, attaching children to new parents.


Classic Ignition
AddChild TODO
AttachStaticModel TODO
CreateJoint TODO
CreateLink TODO
DetachStaticModel TODO
RemoveChild TODO
RemoveChildren TODO
RemoveJoint TODO
SetCanonicalLink TODO
SetParent TODO
SetWorld TODO

Lifecycle

These functions aren't related to the state of a model, but perform some processing related to the model's lifecycle, like initializing, updating or terminating it.


Classic Ignition
Fini N/A
Init N/A
Load gz::sim::SdfEntityCreator::CreateEntities
LoadJoints gz::sim::SdfEntityCreator::CreateEntities
LoadPlugins TODO
Reset TODO
ResetPhysicsStates TODO
Update Entities are updated by systems

Others

Miscelaneous functions that don't fit the other categories. Most of them involve logic that should be performed from within a system.


Classic Ignition
GetJointController Use this system: gz::sim::systems::JointController
GetNearestEntityBelow Requires a system
PlaceOnEntity Involves Requires a system
PlaceOnNearestEntityBelow Requires a system