Gazebo Sim

API Reference

8.6.0
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()

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]_entityThe entity this plugin is attached to.
[in]_sdfThe SDF Element associated with this system plugin.
[in]_ecmThe EntityComponentManager of the given simulation instance.
[in]_eventMgrThe 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: