JointStatePublisher Class Reference

The JointStatePublisher system publishes joint state information for a model. The published message type is gz::msgs::Model, and the publication topic is determined by the <topic> parameter. More...

#include <JointStatePublisher.hh>

Public Member Functions
	JointStatePublisher ()
	Constructor. More...
	~JointStatePublisher () override=default
	Destructor. More...
void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &, EntityComponentManager &_ecm, EventManager &) override
	Configure the system. More...
void	PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) final
Public Member Functions inherited from System
	System ()=default
	Constructor. More...
virtual	~System ()=default
	Destructor. More...

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases. More...
Static Public Attributes inherited from System
constexpr static PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases. More...
constexpr static std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed. More...

Detailed Description

The JointStatePublisher system publishes joint state information for a model. The published message type is gz::msgs::Model, and the publication topic is determined by the <topic> parameter.

By default the JointStatePublisher will publish all joints for a model. Use the <joint_name> system parameter, described below, to control which joints are published.

System Parameters

• <topic>: Name of the topic to publish to. This parameter is optional, and if not provided, the joint state will be published to "/world/<world_name>/model/<model_name>/joint_state".
• <joint_name>: Name of a joint to publish. This parameter can be specified multiple times, and is optional. All joints in a model will be published if joint names are not specified.

Constructor & Destructor Documentation

JointStatePublisher()

JointStatePublisher

(

)

Constructor.

~JointStatePublisher()

~JointStatePublisher ( )

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  )

finalvirtual

Implements ISystemPostUpdate.

---

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

• JointStatePublisher.hh