Gazebo Gazebo

API Reference

6.16.0

Migration from Gazebo-classic: Light API

When migrating plugins from Gazebo-classic to 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 gazebo::rendering::Light class.

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

Light API

Gazebo-classic has 2 Light classes:

In Gazebo, the light APIs has been consolidated into a single Light class with some of generic functions available through other utility / core classes. You'll find the APIs below on the following headers:

It's worth remembering that most of this functionality can be performed using the EntityComponentManager directly.

As an example the Light::Pose() is a convienient function for querying the Pose component from the EntityComponentManager, i.e.

math::Pose3d pose = _ecm.Component<components::Pose>(lightEntityId)->Data();

The functions presented in the sections below exist for convenience and readability. The items marked as TODO means that the equivalent API is not implemented yet in Gazebo.

Properties

Most of Gazebo-classic's Light API is related to setting and getting properties. These functions are great candidates to have equivalents on Gazebo because the Entity-Component-System architecture is perfect for setting components (properties) into entities such as lights. This section focuses on migrating from APIs provided through the gazebo::rendering::Light class.


Classic Gazebo
CastShadows ignition::gazebo::Light::CastShadows
Clone TODO
DiffuseColor ignition::gazebo::Light::DiffuseColor
Direction ignition::gazebo::Light::Direction
FillMsg TODO
Id ignition::gazebo::Light::Entity
LightType ignition::gazebo::Light::Type
Name ignition::gazebo::Light::Name
Position ignition::gazebo::Light::Pose
Rotation ignition::gazebo::Light::Pose
SetAttenuation use ignition::gazebo::Light::SetAttenuation*
SetCastShadows ignition::gazebo::Light::SetCastShadows
SetDiffuseColor ignition::gazebo::Light::SetDiffuseColor
SetDirection ignition::gazebo::Light::SetDirection
SetLightType TODO
SetName TODO
SetPosition TODO
SetRange ignition::gazebo::Light::SetAttenuationRange
SetRotation TODO
SetSelected Selection is client-specific, not porting
SetSpecularColor ignition::gazebo::Light::SetSpecularColor
SetSpotFalloff ignition::gazebo::Light::SetSpotFalloff
SetSpotInnerAngle ignition::gazebo::Light::SetSpotInnerAngle
SetSpotOuterAngle ignition::gazebo::Light::SetSpotOuterAngle
SetVisible TODO
ShowVisual TODO
SpecularColor ignition::gazebo::Light::SetSpecularColor
ToggleShowVisual TODO
Type ignition::gazebo::Light::Type
Visible TODO
WorldPose TODO

Read family

These APIs deal with reading information related to child / parent relationships. As mentioned earlier, these APIs in Gazebo classic are provided by the gazebo::physics::Light class. Most of the APIs are inherited from the base gazebo::physics::Entity class in classic. We will only list the relevant ones here.

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


Classic Gazebo
GetParent ignition::gazebo::Light::Parent
GetParentId ignition::gazebo::Light::Parent
GetWorld ignition::gazebo::worldEntity

Write family

These functions deal with modifying the entity tree, attaching children to new parents. As mentioned earlier, these APIs in Gazebo classic are provided by the gazebo::physics::Light class. Most of the APIs are inherited from the base gazebo::physics::Entity class in classic. We will only list the relevant ones here. As seen below, APIs for changing a Light's entity tree structure are currently not implemented yet.


Classic Gazebo
AddChild Not supported
RemoveChild Not supported
RemoveChildren Not supported
SetParent TODO
SetWorld TODO

Lifecycle

These functions are related to the light's lifecycle, like loading and updating its properties.


Classic Gazebo
Load ignition::gazebo::SdfEntityCreator::CreateEntities
LoadFromMsg ignition::gazebo::SdfEntityCreator::CreateEntities
UpdateFromMsg TODO