Gazebo Sim

API Reference

8.7.0
gz::sim::gui Namespace Reference

Namespaces

 events
 Namespace for all events. Refer to the EventManager class for more information about events.
 

Classes

class  Plot3D
 Plot the trajectory of an entity into the 3D scene. More...
 
class  SelectEntities
 This plugin is in charge of selecting and deselecting the entities from the 3D scene and emit the corresponding events. More...
 

Functions

GZ_SIM_GUI_VISIBLE std::unique_ptr< gz::gui::ApplicationcreateGui (int &_argc, char **_argv, const char *_guiConfig, const char *_defaultGuiConfig, bool _loadPluginsFromSdf, const char *_sdfFile, int _waitGui, const char *_renderEngine=nullptr, const char *_renderEngineGuiApiBackend=nullptr)
 Create a Gazebo GUI application. More...
 
GZ_SIM_GUI_VISIBLE std::unique_ptr< gz::gui::ApplicationcreateGui (int &_argc, char **_argv, const char *_guiConfig, const char *_defaultGuiConfig=nullptr, bool _loadPluginsFromSdf=true, const char *_renderEngine=nullptr)
 Create a Gazebo GUI application. More...
 
GZ_SIM_GUI_VISIBLE int runGui (int &_argc, char **_argv, const char *_guiConfig, const char *_renderEngine=nullptr)
 Run GUI application. More...
 
GZ_SIM_GUI_VISIBLE int runGui (int &_argc, char **_argv, const char *_guiConfig, const char *_sdfFile, int _waitGui, const char *_renderEngine=nullptr, const char *_renderEngineApiBackend=nullptr)
 Run GUI application. More...
 

Function Documentation

◆ createGui() [1/2]

GZ_SIM_GUI_VISIBLE std::unique_ptr<gz::gui::Application> gz::sim::gui::createGui ( int &  _argc,
char **  _argv,
const char *  _guiConfig,
const char *  _defaultGuiConfig,
bool  _loadPluginsFromSdf,
const char *  _sdfFile,
int  _waitGui,
const char *  _renderEngine = nullptr,
const char *  _renderEngineGuiApiBackend = nullptr 
)

Create a Gazebo GUI application.

Parameters
[in]_argcNumber of command line arguments (Used when running without gz-tools. Set to 1 if using gz-tools). Note: The object referenced by this variable must continue to exist for the lifetime of the application.
[in]_argvCommand line arguments (Used when running without gz-tools. Set to the name of the application if using gz-tools)
[in]_guiConfigThe GUI configuration file. If nullptr, the default configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used.
[in]_defaultGuiConfigThe default GUI configuration file. If no plugins were added from a world file or from _guiConfig, this configuration file will be loaded. If this argument is a nullptr or if the file does not exist, the default configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used.
[in]_loadPluginsFromSdfIf true, plugins specified in the world SDFormat file will get loaded.
[in]_sdfFileSDF world file, or nullptr if not set.
[in]_waitGuiTrue if the server is waiting for the GUI to decide on a starting world.
[in]_renderEngine–render-engine-gui option
[in]_renderEngineGuiApiBackend–render-engine-gui-api-backend option
Returns
Newly created application.

◆ createGui() [2/2]

GZ_SIM_GUI_VISIBLE std::unique_ptr<gz::gui::Application> gz::sim::gui::createGui ( int &  _argc,
char **  _argv,
const char *  _guiConfig,
const char *  _defaultGuiConfig = nullptr,
bool  _loadPluginsFromSdf = true,
const char *  _renderEngine = nullptr 
)

Create a Gazebo GUI application.

Parameters
[in]_argcNumber of command line arguments (Used when running without gz-tools. Set to 1 if using gz-tools). Note: The object referenced by this variable must continue to exist for the lifetime of the application.
[in]_argvCommand line arguments (Used when running without gz-tools. Set to the name of the application if using gz-tools)
[in]_guiConfigThe GUI configuration file. If nullptr, the default configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used.
[in]_defaultGuiConfigThe default GUI configuration file. If no plugins were added from a world file or from _guiConfig, this configuration file will be loaded. If this argument is a nullptr or if the file does not exist, the default configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used.
[in]_loadPluginsFromSdfIf true, plugins specified in the world SDFormat file will get loaded.
[in]_renderEngine–render-engine-gui option
Returns
Newly created application.

◆ runGui() [1/2]

GZ_SIM_GUI_VISIBLE int gz::sim::gui::runGui ( int &  _argc,
char **  _argv,
const char *  _guiConfig,
const char *  _renderEngine = nullptr 
)

Run GUI application.

Parameters
[in]_argcNumber of command line arguments (Used when running without gz-tools. Set to 1 if using gz-tools). Note: The object referenced by this variable must continue to exist for the lifetime of the application.
[in]_argvCommand line arguments (Used when running without gz-tools. Set to the name of the application if using gz-tools)
[in]_guiConfigThe GUI configuration file. If nullptr, the default configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used.
[in]_renderEngine–render-engine-gui option
Returns
-1 on failure, 0 on success

◆ runGui() [2/2]

GZ_SIM_GUI_VISIBLE int gz::sim::gui::runGui ( int &  _argc,
char **  _argv,
const char *  _guiConfig,
const char *  _sdfFile,
int  _waitGui,
const char *  _renderEngine = nullptr,
const char *  _renderEngineApiBackend = nullptr 
)

Run GUI application.

Parameters
[in]_argcNumber of command line arguments (Used when running without gz-tools. Set to 1 if using gz-tools). Note: The object referenced by this variable must continue to exist for the lifetime of the application.
[in]_argvCommand line arguments (Used when running without gz-tools. Set to the name of the application if using gz-tools)
[in]_guiConfigThe GUI configuration file. If nullptr, the default configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used.
[in]_sdfFileThe world file path passed as a command line argument. If set, QuickStart Dialog will not be shown.
[in]_waitGuiFlag indicating whether the server waits until it receives a world path from GUI.
[in]_renderEngine–render-engine-gui option
[in]_renderEngineGuiApiBackend–render-engine-gui-api-backend
Returns
-1 on failure, 0 on success