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...

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.