UserCommands Class Reference

This system provides a Gazebo Transport interface to execute commands while simulation is running. More...

#include <UserCommands.hh>

Public Member Functions
	UserCommands ()
	Constructor. More...
	~UserCommands () final
	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	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) final
	All received commands are queued in order of reception and executed in order during PreUpdate. More...
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

This system provides a Gazebo Transport interface to execute commands while simulation is running.

Todo:

(louise) In the future, an interface undo/redo commands will also be provided.

Spawn entity

• Service: /world/<world name>/create
• Request type: gz.msgs.EntityFactory
• Response type: gz.msgs.Boolean

Spawn multiple entities

This service can spawn multiple entities in the same iteration, thereby eliminating simulation steps between entity spawn times.

• Service: /world/<world name>/create_multiple
• Request type: gz.msgs.EntityFactory_V
• Response type: gz.msgs.Boolean

Set entity pose

This service set the pose of entities

• Service: /world/<world name>/set_pose
• Request type: gz.msgs.Pose
• Response type: gz.msgs.Boolean

Set multiple entity poses

This service set the pose of multiple entities

• Service: /world/<world name>/set_pose_vector
• Request type: gz.msgs.Pose_V
• Response type: gz.msgs.Boolean

Try some examples described in examples/worlds/empty.sdf

Constructor & Destructor Documentation

UserCommands()

UserCommands ( )

explicit

Constructor.

~UserCommands()

~UserCommands ( )

final

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.

PreUpdate()

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

finalvirtual

All received commands are queued in order of reception and executed in order during PreUpdate.

Parameters

[in]	_info	Contains information about the current simulation iteration.
[in]	_ecm	The entity component manager.

Implements ISystemPreUpdate.

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

• UserCommands.hh