Migration from Gazebo-classic: World 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 sim::physics::World class.
If you're trying to use some API which doesn't have an equivalent on Gazebo yet, feel free to ticket an issue.
World API
Gazebo-classic's sim::physics::World provides lots of functionality, which can be divided in these categories:
- Properties: Setting / getting properties
- Example: World::Gravity / World::SetGravity
- Read family: Getting children
- Example: World::Lights
- Write family: Adding children
- Example: World::Clear
- Lifecycle: Functions to control the world's lifecycle
- Example: World::Step
- Others: Functions that don't fit any of the categories above
- Example: World::UniqueModelName
You'll find the Gazebo 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 World API is related to setting and getting properties. These functions are great candidates to have equivalents on Gazebo Gazebo, because the Entity-Component-System architecture is perfect for setting components (properties) into entities such as worlds.
| Classic | Gazebo |
|---|---|
| Atmosphere | gz::sim::World::Atmosphere |
| AtmosphereEnabled | TODO |
| DisableAllModels | TODO |
| EnableAllModels | TODO |
| GetSDFDom | TODO |
| Gravity | gz::sim::World::Gravity |
| IsLoaded | Not applicable |
| IsPaused | Use gz::sim::UpdateInfo |
| Iterations | Use gz::sim::UpdateInfo |
| MagneticField | gz::sim::World::MagneticField |
| Name | gz::sim::World::Name |
| PauseTime | Use gz::sim::UpdateInfo |
| Physics | TODO |
| PhysicsEnabled | TODO |
| PresetMgr | TODO |
| PublishLightPose | Use gz::sim::systems::PosePublisher |
| PublishModelPose | Use gz::sim::systems::PosePublisher |
| PublishModelScale | TODO |
| RealTime | Use gz::sim::UpdateInfo |
| Running | Not applicable |
| SDF | TODO |
| SetAtmosphereEnabled | TODO |
| SetGravity | TODO |
| SetGravitySDF | TODO |
| SetMagneticField | TODO |
| SetPaused | Use world control service |
| SetPhysicsEnabled | TODO |
| SetSimTime | Use world control service |
| SetState | TODO |
| SetWindEnabled | TODO |
| SimTime | Use gz::sim::UpdateInfo |
| SphericalCoords | TODO |
| StartTime | Use gz::sim::UpdateInfo |
| URI | TODO |
| UpdateStateSDF | TODO |
| Wind | TODO |
| WindEnabled | TODO |
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 Gazebo, they deal with entity IDs.
| Classic | Gazebo |
|---|---|
| BaseByName | Use type-specific gz::sim::World::*ByName |
| EntityByName | Use type-specific gz::sim::World::*ByName |
| LightByName | gz::sim::World::LightByName |
| LightCount | gz::sim::World::LightCount |
| Lights | gz::sim::World::Lights |
| ModelByIndex | gz::sim::World::ModelByName |
| ModelByName | gz::sim::World::ModelByName |
| ModelCount | gz::sim::World::ModelCount |
| Models | gz::sim::World::Models |
| PrintEntityTree | Use scene graph service |
Write family
These functions deal with modifying the entity tree, attaching children to new parents.
| Classic | Gazebo |
|---|---|
| Clear | TODO |
| ClearModels | TODO |
| InsertModelFile | TODO |
| InsertModelSDF | gz::sim::SdfEntityCreator::CreateEntities |
| InsertModelString | TODO |
| RemoveModel | TODO |
| RemovePlugin | 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 | Gazebo |
|---|---|
| Fini | N/A |
| Init | N/A |
| Load | gz::sim::SdfEntityCreator::CreateEntities |
| LoadLight | gz::sim::SdfEntityCreator::CreateEntities |
| LoadPlugin | TODO |
| Reset | TODO |
| ResetEntities | TODO |
| ResetPhysicsStates | TODO |
| ResetTime | Use world control service |
| Run | See server API |
| RunBlocking | See server API |
| SensorsInitialized | N/A |
| Step | See server API |
| Stop | See server API |
| _AddDirty | N/A |
| _SetSensorsInitialized | N/A |
Others
Miscelaneous functions that don't fit the other categories. Most of them involve logic that should be performed from within a system.
| Classic | Gazebo |
|---|---|
| EntityBelowPoint | Requires a system |
| ModelBelowPoint | Requires a system |
| SceneMsg | Use gz::sim::systems::SceneBoradcaster |
| WorldPoseMutex | N/A |
| StripWorldName | N/A |
| UniqueModelName | TODO |
| Save | Use SDF generator |