PosePublisher Class Reference

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()

~PosePublisher ( )

overridedefault

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]	_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()

void PostUpdate ( const UpdateInfo &  _info, const EntityComponentManager &  _ecm  )

overridevirtual

Implements ISystemPostUpdate.

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

• PosePublisher.hh